{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import matplotlib.pylab as plt"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "(time_stamp,local_x,local_y,local_z) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_local_position_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0,4, 5, 6),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [],
   "source": [
    "(local_sp_timestamp, local_sp_x, local_sp_y, local_sp_z) = np.loadtxt(open(\"d:\\\\flightdata\\\\newfile\\\\log_301_2020-3-12-14-34-46_vehicle_local_position_setpoint_0.csv\",\"rb\"),skiprows=2,delimiter=\",\",usecols=(0,1,2,3),unpack=True)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [],
   "source": [
    "ref_time=(time_stamp-time_stamp[2])/1000000\n",
    "ref_sp_time=(local_sp_timestamp-local_sp_timestamp[2])/1000000"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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vr5X3389l69ZFHDhg5+hRNdu323C5DMD7hIX9g+JiG/PnxzJ3bhllZWWEhYWRn59PfHz8kJ52nZ2dfhu4ikuaoRQ7rVbrLsXwfI1UWC4xHiRRO00EUzDtcrloaWmhsbGR5ORk5s2bh0qlCuh9ghU1MdHEarWSn59PUlKSe/KQy+UhNyD+8EMjzz5r4LzzHuX1118KuavJSBZYvb29NDU1YbfbaWlpwWQy4XQ63ebG4hLmWHq0BYoYpYSKxEQVK1YUsWJFkfsxh8PBoUMa3nsPtm/P4MQJBS+9FM/zzysYTFA5TmzsqxQXO5g9O4LKysHl5ZKSEnJzc5HJZEN62oWqgSucEjnRa9PXMkwqLJcYD5KoTTCjFUyLzu1wqpC5paWF1NRUFi5cGHRChChqo9Hf349Go8HhcFBQUDDEFkocZyDHCoZXX1UAD/LMM2+eVpsumUxGeHg4KpWK7Oxs9+O+Tv7D9WiLjo4OevL2x+lIVlEqlcyZU8KcOSXux1wuF01NTRw4cIING6ChoYT6+ij27UvC6QwHzMDLREY2kJ9vZtasMCor8ygqKqKkpITS0lIUCoXXnp1vA9dAetp5IkbPIqEoLBdvGsUieIkvH5KoTRCBFkwrFAqsViu1tbV0dHSQkZHB4sWLx7wHpFAoRhQiMWsSID8/f8g+lScT0SomLs6Gy5XBsWPHvBqATha+Tv4inj3afMUuVJHK6UQul5OTk0NOTg55eWkUFhaiVqtxuVw0Nzdz+HAtn302gwMHEtBoVLz+ehJr1yoAG/AOYWE1ZGUZqKxUUF6eTXFxMSUlJRQXF6NSqUY8X6LYeWZkikvBgV7ngRSWA2zatIkDBw7w4IMPhvDsSUwnJFELMcF0mLZareh0Ojo7O8nPzx+X+4fIcNFVX18fGo0GhUIRcNZkoFFfMNx2m4of/OB+Vqy4k8ce6+Kqq646bZN8MALt2aPNtyGpv0gFxp9wcbrwjJDkcjnZ2dlkZ2dz2WXez+vt7eXIkVo+/TSbfftSOHkyjA8+SGDDBhmDYrcNhWINRUV2zj03ioUL5zF//nzy8/Pdf1NR7MQklZaWFoxGo3svT6vVei37Bnsz5/vd0uv1E5YRLDE9kEQtRATaYRrAbDZTV1eHTqdDrVaTm5s7bCFssHhGauI+kkajITw8POgGoIEuP5rNZjo6OgKqIUtLU/Heewl8/ev3c+ON+3n88W/z8MO3s2DBgoDHNR7GK6BianxkZKRXpOm5B2UwGPwmXERHR+NyuSbdJDrQVP7ExETOPXch557r/bjFYuH4cS1bt8Jnn83k4EEZzzyTxlNPGYA3SUys5+KL47j22mWcd9557psD30h4586dJCYmusXOc4/Tt7A8ULHT6/XEx48t8UjizEAStXESTMG0wWDwyjAsKyujoaEhpNGQuEfX1dWFVqtFrVZTXl4+YgnASMcaKboR0/8NBgNJSUleNWRiWr1n0bQYHVRXp6HRJPPb3/by1FPf48IL9WRk/IULLgjn7LOTmDWrgpKSkoCTY6YCnkXPvmInRnYGgwGr1cru3bsBhkzcvkXSE0Ww9Wm+REREMHt2ObNnl3PrrYOPORwO9u8/wYYNVjZvnslrryWybl0YCQl/46c/jeK221Z67aGK35OkpKQhYjeeBq56vZ6cHO8MUYkvF5JN1hjxVzA93ISk1+vRarU4HA63+4f43MbGRgCv5IXxjGnv3r2YzWbi4+PJz88ftQRgJGpra4mJiSElxbsg2mQyodFoMBqNFBQUkJSU5GWT5TsxiYXTYjSTkZHhFjun08nTT7/Ov/7VRl1dKi5XMSAgk9WRktJJSYmdRYuimDevmPLycrKzs8c88ev1etrb2ykpKRn9yRPErl27WLBggVfdmPhjNpvHZX8V7BgmEovFwhtvbOSRR05w9OhZJCQ0sn79fObOLRvTOMTMYc/z5VuE/8EHH3D48GGuuOIKvvnNbwZ03KamJlauXEl7eztyuZybb76Z2267jd7eXlasWEF9fT25ubm88sor7v3nhx56iDVr1qBQKHj00Ue55JJL/B1aSsmcJCRRCxJxUzoQMRPdP2QyGQUFBX6XRVpaWrDb7eTm5o55TIIguOvZXC4Xubm5fhuFBosY6Xka7mo0GkwmE/n5+SQnJ7uTSWw226gTr7jklJ+f7+VlCHzRxDOcrq4u6uoa2L27l337HGi1kej1WQz2TLMQHq4hK6ufqioZixcnUFVVRnl5+YgJLyJTSdSGQxQ7TxNoT/urULT3OR2i5sl7773H97//FgbDDXzwwQzmzs3G5XKxd+9e5s+fP+7j22w2DAYDzzzzDJs2bcLpdGK328nIyODtt98e8Ry1tbXR1tbG3LlzGRgYYN68ebzxxhs899xzJCYmcs899/Dwww/T19fH6tWrOXr0KNdeey07d+6ktbWViy66iJMnT/rL8pREbZKQlh8DRMxkrK2tJS8vb8RsrO7ubrRaLREREaPuYykUCiwWy5jH1NbWRkNDAwkJCcyZM4empqYx+SL6QxQso9GIRqPBbDZ7idlYjqdQKEhKShp2iU6pVBIbG0txsZlvf1vujjSbm5s5ebKJnTstHD6sYuPGONavzwZcwCfExjaSn29kzhwlc+YkU1hYQEFBAampqdOqjkkul7tb5XjidDrdkZ1Op6OlpcUtdr4dD4Lpz3Y6uPjii/n44yKWLLmVG264j4MHs4ek84+H8PBwEhMTufvuuzl48CAPP/wwJSUl6PX6Uc9DWlqa+6YtJiaGsrIyWlpaePPNN9myZQsA3/3udzn//PNZvXo1b775Jtdccw0qlYq8vDwKCwvZuXMnS5YsCclnkRg/kqiNgL+C6Y6ODgoKCvw+t6Ojg7q6OmJiYqisrCQqKmrU91AoFO505EBxuVy0trbS0NAwpDg7lBmLDoeDjo4Od6TpWZg9VvyVCXhOzDNnznQ/7jmRh4eHk5KSwsKFp/q0ie7+R460s3u3lRMnInn++Rk8+2wGg4sMHxIefpK0tG6KiixkZ8cQFxfHwoULKS4uJj8//7Q7iowVhUJBTEzMkBskp9Ppjuh8e9n5WoVNptjl5eVx8cUJvPfe4F5eMOn8waDX691Re7BZkPX19ezbt49FixbR0dHhFru0tDQ6OzuBwZWVxYsXu1+TmZnpbuUjMTWQRM0PwXSYFgWmsbHRHS1FREQE/F7BiJrT6aSlpYWmpiZmzpzJggULhhQwj1anFghiZKbT6ZgxYwalpaWTMhkON5E7HA73RB4XF0d+fj6XXmonLCyMiIgIBgYGaGtr5/BhOHCgEK22ip07Z/Dhh0pcLgtwAvgvKlUNpaUCs2YVU1FRQXl5OSUlJaSlpU3Y5w113Z9CoSA2NnZIsbHnOfJsRqpUKrFYLDQ3N3uJ3UQjCAK1tTpUqkFRC2Wk5slYsx8NBgPLly/nkUceGbFw29/fbypFxRKSqHkhpuU7nc4RC6ZF0Wtubqa5uZmZM2cyf/78MU0OgYia0+kM2GlkPJGawWBAo9FgtVopKCggISFhzF6FwxGKgm7P1jWeiMkpMTExxMbGkplp5CtfOWWDBdDU1EFHx1I+/3wuBw64aGxUc/SoFbu9HzgMvEJUVBNFRU7KyrLd9lHFxcXk5eWNK7oItaCNxHDnyG63s2fPHuRyOV1dXdTX12O321EqlX4bt4aKP/7xOQ4fvpPbbmsG5uJ0OickUnM6nUGP2263s3z5cq6//nquuuoqAFJSUtxd3dva2twrCJmZmTQ1Nblf29zcTHp6eug+gMS4kUSN4Aqm5XI5Go2G9vZ20tPTx2Rl5clIkZXD4aCxsZG2tjbS09NZtGjRqBOBp+1WoPiKmZidabFYgj7WaEyES4nIcAbHog1Wd3c3arWCwkIz+fkyvv/9aPcE3ttrZtu2RHbtquboUWhujubYMQdWqwE4CWxCoaihqMhBVVWOO7KrqKggIyMjIOGf7Po0GLw+wsLChkzEnpmFg8k6dUPa+4yll93AgJWrr97Ktm0lnHPOe6xadR8weG2HOlIby3UlCAI33XQTZWVl3Hnnne7Hv/GNb/D8889zzz338Pzzz3PFFVe4H7/uuuu48847aW1tpaamhoULF4bsM0iMny+1qAVTMG2z2WhoaGBgYIDk5GSWLFkSki+lPxGy2+00NDR42WYF+l5iS49AMBgM1NbWYrPZ3HtmvscKtaPI6cbTBks0wC0uLvZyBjEYDDgcRqqqXFRVqd0p9dHR0ZjNTrZvT+Xzz6s5fNhJfb2aDRtcvPKKEdAA7xMd3URZmUB1daa7mWdZWdmQZaxQmxmPheFq1MLCwoiPjx+ydOdZmuHby863cavvDdff/67h97+3YDK9wfe/r2b16ofc1/FELD+KohbMjcO2bdt48cUXmTVrFrNnzwbgwQcf5J577uHqq69mzZo1ZGdn8+qrrwJQUVHB1VdfTXl5OUqlkr///e/TZl/2y8KXUtQCbcoJuDs/9/X1kZ2dTXJyMmlpaSG7kD2XH0Xh7OzsJCsra0y2WYEI0cDAABqNBrvdPqyZMQQXVQU6kUxkpBbo+4v/Ha5YWkxO0ev1GI1GcnIs5OWFERUV757IzWY7n34ax2ef5XHw4GDpwd69CpxOO4OR3RvMnNlDZaWcOXPSqagop7S0NOSRb7AE25ZouOjXs3Grb4G0Vqvg3nsVtLRsITV1DS+88BAXX3yx13EnIlHEYrEEXZd5zjnnDHs9bt682e/j9957L/fee2/Q45M4PXypRC2Ygmmj0UhdXR0DAwPk5eW5kyV0Op379aFAdBY/ceIEPT09ZGdnj8sDciRRC1TMAjnWWJlsURsNz5R6z6JzzyzDnp4ejEYjeXl2iorivVz8e3r62LZN4LPPYjl82MWePVF8+GEkg9mYh5HLT5Cd/SqzZilYsCCNiorBJcyJTE7xxOl0hsRfVEyj97yG2tqM3HBDLbt2dSII93DddfO47rq/EhERwYEDB7yiOrvdHvIEFZ1OJ7nzS3w5RC2Ygmmxv5jFYiE/P5+Kigqv544lBX84LBaLu8t0Tk4ORUVF455w/AnRwMAAtbW1I7aZ8UegAuRyuejp6SEiImJUE9/J3FMaj5gOl2XouRfV2dmJ0WikrExNdXWcW+yUSiXNzS1s26bivfcSaW3NZ/PmWN56K5HBGt3PUavryMuzUFWlZNGiVGbNKh+zvdlIjNciyx8mk4Wf/WwXb7wRi93+ey6+GB544EVKS0uBoe19Wlpa6O3tRSaT0dXVFVS7mpGQfB8l4AwXNc8O0zCymOl0OrRaLS6Xy92Sxd9zlUrluCM10Z28v7+fvLw8+vr6QpZB5Zl44ilmhYWFAblueDJapObZzDQuLg673e52CPF0v4iOjvZyv5gKy4+hwt9elK9NmE6nw+l0MH9+GrNnzyAtLY3o6GhsNhtabR27d5vYsSOSY8cief31eNaty2DQBf8DEhJaKCqyMX9+BGefncWsWZVkZ2ePWZjG0hV9OKxWK7/73WaefDIVq/V9zj57P6tW3cuiRYu8nuevvU9tbS0JCQlERkaGrJed5NAvAWegqHkWTB87doySkpIR3T9EKyulUklBQcGoXwqlUjnmSM1oNKLVajEajeTn51NeXo5MJkOr1Y7peP6Qy+VYLBb27duH0+l0p+aPheEiNc/ib7FezjOzz9PqSa/X09LS4i4ItlqttLW1kZCQEHQm3XRhuO7bJpOJkydPEhcX596PioxUs3RpKZdconZHKuI1uWtXM7t2GTl2TMnOnbE8/ngs0IRSuZf09C4qKiycdVYkixbNYs6cOQEZQIdi+dFut/PYYxtYvToWk6mbefOe5f77f8bSpb8L+BhiSv9w7X08Ox709PRgNptH7WWn0+mkSE3izBE1fwXTOp0OGHp3LgiC28U+MjKSsrKygJd5xOaGwSC684/XZmo0+vv7OXHiBEajkdmzZ49ZzER8IzXRlqu+vt6r+FuMTDwzSP1ZPTkcDg4dOgRAZ2fnF1mHDncdmWc23WRnCU4EgiCgVCpJTk72msR9nfwdDgczZszg8stTuPrqwYhXJpPR2NjI8eMn2LOnlX37BLZsieedd3IBB3L5RnJyOlm0SMXll2dw/vmL/O4vjWf50eFw8Pzzr7NqlZK74uwAACAASURBVAm9Ppfy8pf4wx+uZdmyV4K+nkdKFBlLL7v169fT1taGSqXi+PHjFBYWBpSI8r3vfY+3336bmTNncvjwYQBWrFjBiRMngFNCuX//furr6ykrK3N7hy5evJgnnngiqM8tMfFMe1EbqWBaXCoUN6RdLpfb+DcuLo6qqqqgs6WUSuWQdvLD4ZmY4evOH0r0ej0ajQZBEMjKyqKjo2PcgganIjVBENxilpSUNMTJRDzfoy0rKpVKwsLCSElJcZ93URDFyEVcghIEwasPWXR09Ljd6ic7QWW4lP5AbMIMBgPR0dHMmlXJ7NnV7ucbjUaOHz/Oli0n2brVxCuvxLBuXS4y2UHS021UVSXw61+nMmvWoOXTWEVty5at/PCH22hru4i8vDd48sk0Lr30qTH/PcaS0j9SxmpUVBTPPvssLS0trFq1ipqaGjZs2DCqsfcNN9zAT3/6U1auXOl+7OWXX3b/+6677vJavSkoKGD//v1BjVvi9DJtRS2QgumwsDC3W4K495OcnMzcuXODsrLyJJBITRQZl8sV8PLfWApzPcVM7AJgNptpa2vzc3zo7QWtVkZLi4y+PqitlaFSwW9+4385VSaTYTQa+fzzz0lMTPTymBwrvuLnuVTn21dLnNAHBgZob293t2bxjOpEA99g3n+yCPZvHIhNmFwuJycnh+uuS+e73w1DoVBQW1vL55/vYNOm47zzztd4553zSE8/xi23KPjmNwuDEpOWlhZ++MN/sXXrUhISVDz7bDtXXfXAuM9jKFP65XI55eXlpKSkcN5553HttdcG/NqlS5dSX1/v93eCIPDKK6/w4YcfhmScEqeHaSdqwRRMy+VyGhsb6enpITU11a9XYrCMtKfW19eHRqNBLpcHtD/nOc5gJjy9Xk9tbS0AhYWFXu/juWTocsE778h5/XU5HR0yUlIE8vIEMjIEEhMhM1Ngy5ah5040Z66trUUQBBYuXBiyhp2BZlTKZLJhoxfPvZaGhgbsdrtXMbD436lWFBsqR5HRbMISExMpLy/nmmuMNDQ0sHXrP9iwQct9913Fgw+queWWLn7726wRx2Kz2XjggZf429/SgDRuu20Hv/rVLajV6nGPHyam+DrU2Y+ffPIJKSkpFBUVuR+rq6tjzpw5xMbG8sADD3Cub1twiUln2oma2CtpJDGz2+00NjbS1dVFamoqixcvDtldoW+k5ptsUlxcHHStjFgmEEh213Bi5nksl8tFXx9897thnHuuiz/8wcEXhuNetLbCv/+tYPt2GT09Mrq7obNzALO5ndRUFeefPwujUTulOlAPl1ovTugGg4GWlhZMJhNOp9NrCVPc95ssJiKd3hN/hdJz587lsssu41e/6ueNN97gkUd+xV/+8hNefXUd//xnNunpae6bALEc4623PuYnP2lFp8tg6dL3+dvffkxeXl7IxxvqqDnUorZ27VqvqC8tLY3GxkaSkpLYs2cPV155JUeOHJFq46YY007U5HL5sBOD1Wqlvr6e7u5usrKyyM7OJjY2NqTOBWKk5ts3LZhkE19Eq6zhMgF1Oh0ajQaZTDasmHkey+Vy8dhjA+TnHyA8fC+PPirQ3h5PT88MentnYDanIZeHo1Q62bcvl/PPH4xeo6LaUSjMGI2FOJ3hqNVWXn+9b0yfaTgmqvh6OOcLi8Xi3q8Ts+h0Ot2QkoPT0ZZlMrwfPdPpb775Zi688ELWrl3Hn/8cyQ9+0Mr7769w19hpNPXcf38TtbXzmDHjE9asuYDLL//dmJfqTzehFDWHw8F//vMf9uzZ435MXCYHmDdvHgUFBZw8eTIkjU4lQse0EzV/mM1m6urq0Ol05ObmuouYxaWpUCKXyzEajezYsYOoqKiA+6aNxHAF3TqdjtraWuRy+ahiJtLTI+M//3Hyt799iiBcCZQCm4DjwNsMtl3RAp77gjIgGaNxBiAHuoAOzGa4554qdu7cOebPJhbeig0tTSYTVqt1xMapocIzi27GjBlER0fT399Pbm6u3x5kolO9mJjiz89wPEwVQ+Mf/vBmSku38b3vZbB2bQ0337yE3/3uPdavT0Oh2M4vftHPd75zD3a7nZqaGq9mpJ4ZqlOtGWl/f39IEqQAPvjgA0pLS8nMzHQ/1tXVRWJiIgqFAq1WS01NDfn5+SF5P4nQMa1FzWAwUFdX94VlUR5lZWVeXzKlUhkyURP3mbRaLVarlUWLFgWdOTkcvqIm7s0pFIpRlzMFAfbulfHGG3L27BFwODrRarcjCP8B/he4E8gDmkhMjKWoaA4zZpTjdFrdS3RmsxmbzfZFkbAThSKc+PhZpKSk8LWvfW3Y93a5BBob2zh06CTHjmlobGynubmL9vZWuroaMRg6MRi6vvBD9EatVruLllNSUkhNTSU1NZXMzEwKCga7VmdlZU3IvphcLvebgCG6gxgMBtrb2zEYDDidg61rPKO6QAqB/RHqNj5jQa/XU1dXx/r1bwKv8fvff8hDD+3D4djJ177Wwx//+CuysrKGvM7XJsyzP5uv2I1WezhRS8BjidSuvfZatmzZQnd3N5mZmdx///3cdNNNrFu3bkjCydatW/nNb36DUqlEoVDwxBNPBOzOI3H6kI1ygU05kz7PGjMxVX64jswdHR0MDAxQWFg4rvcT09kTEhLIycnhwIEDIW3ffvToUXeXXVHMCgoKRhQzrRbWrVPw4YcOVKoj6PVrOHjwOWw28xCRvPnmn3L55fdx8mQihw5ZqamxIJMpiIo6ZUnkefoEYfD/BUFApxucKKxWKwMDBgyGAQwGwxf/HnS3BytgQyZzEB0dTnR0LCpVPHJ5FKBGoQhzi4DVaiUszEV4eD9yeQ/QhNV6goGBI3R378Fu17vHER4eTm5urlvkPH8yMjKCFpauri4GBgaCurv2tHgyGAY/s1gbpVarvaK60UoOurq6MBgME7I/NRx2u513332X9evXs3v3burrGxi80fk/4DOysm7loouqWL58OUuXLh3T8UWxE5d5xTIaX7ETrzWHw8HBgweZO3duSD/rueeey759+yb9xuELpsQgvoxMu0jNbrej1WrJzc0ddalhPJGaZ0frpKQkr3T2UN9piu4narWakpKSYZfmLBb417/krF/vwmqtx2xew759j+By2SkpKeGWW27moosuQqFQcMEFF7Bx40Z+/etf8+STj/Hqqy+xcOFC5s+fz8qVy5gzZw6RkQLiMqQgCHR2dlJfX09DQwMNDQ1otVqam3dz/HgzfX2n9tYSExOpqCijrKyM8vJyysrKiI+PJzU1lbi4uBGX7AYdNWbicuXR1SWjuVlGQ4OcpiY5jY0y+vpsWK1GYmJaUCiOYrHsoq7uYz766CMsFov7OFFRUVRVVTFnzhxmz57N3LlzKSwsHFXogp3w/Fk8wamCaYPBQH9/P62trVgsFhQKhZe9k2ezzdO5/OhwOHjhhRd4+OGHaW93AJcxuAQ9eA1fdNEveOqpW0hK+mhc7xOITVhLSwtGo9FtfxUREYHD4cBgMIw56vVlsmsQJaYO0y5Sg8G7/UDo7++noaGBWbNmBXxssaN1U1MTM2bMIDc3d0gZwGeffcZZZ50V1Jj90dvbi0ajwWKxkJ2dTU5Ojt/n2Wzw+ONyXn7ZQFjYWg4cuBerVUdOTg7f+ta3WLFiBZWVle4J03N8vb29rFu3jk2bNrFz504vcYqKinLXtg0MDAy5ARDb7CxatIjy8sHWKWI9kJjwIS7JxsbGIgiC+05dXLITf8TMupqaGpKTk0e8IbHZoLZWzpEjco4elXPihByLBZRKM0lJbahUJzGZdqDVbubQoQOYzWYAYmJi3EInil1BQYF70jwdkZJnDZkYuXg60isUCnJycias5EAQBDZu3MiqVas4cSIMuBtYDkQTHf0EN9xQyx13/NirePl0ISbu9PT00NraSlRUlFfU6xnZqdXqoG4ABEFg6dKlU6kwWorUJolpF6lB4Bl0wZgPO51OmpqaaGlpISUlZdwdrUdCFLOwsDBKS0vp6uoatn5u+3YZd95pxGB4lJMn7ycuLpYbb7yWa665hkWLFo1o0FxbW4tCoeA73/kOP/7xj3G5XGi1Wvbv349Wq6W7uxudTueeTDIyMsjJySEnJ4fs7Gyio6P9CrgY1Wk0GuLi4pg7d667lED821itVvdynWhnJJPJ3AbTgiAMWzgdHg7l5S7Ky73NlPV6GceOZXHkSA5HjlxCXNwqzjpLIDKyj4iIGozG7bS0vMvTTz/tjupiY2OZPXu2W+AKCgrIzc2dsIhppBqyxsZGTCaTV+QiLmGKf4NgJ3NPduzYwX333cf27Z3Ab4EqIJykpH/z61+HsXLl1Rw/fjzkzv+BIibuxMbGYjAY3C7+njZhvoX2nlmqUVFRXsbYnlgslilVeiIxeUxLUQuUQETN4XC4xSw9PZ1FixYFlPE2lqWknp4eNBoN4eHhlJaWupcZe3t7/WY/Pvmknb/85Rj19ReRkqLmr3/9CytXrhwx21Kv12MymdBqtUOSTMQsyvHsMfb09FBbW0tUVBSzZ892F+N6RnmeS3a+HofHjx9HqVTS29vrTjYQC6f97b94EhcHixc7Wbz41LkSBGhtjeTIkTkcPTqfI0duJTlZwGIxoFI1YrfvpbNzM//4x3PY7f0AxMfHu4Vu9uzZVFdXk5eXN+E1ZJGRkURERLgz6ny7b3d0dGCxWNx2UJ7nZKRMw5MnT3L//ffz1lu7gfuAswAHsbEnuP9+OTfeuML92Sa6Vi4QfN1EArEJ88xSFZd4xXOjUqno7++XHPolgC+xqIkF2u3t7WRkZARVoB2MA4hYnK3RaFCpVH57ZPlL6V+9Wsdf/7oZne473HXXHfzyl78c8Q67v7/f7QASERHBnDlzQhqN9PX1UVtbS3h4+JjLGORyOSqVivj4eK/9KU/vRzGKCdT7USaDjAyBjAwnF1986hza7WFoNEUcOVLCkSPXc+wYtLfrMJu7CA+vpaHhUz79dCMOx6OAi9jYWKqqqqiurqaqqorZs2dTVFQU0pR+3+zH4bwMxcncYDB4ib9SqXRP5JGRkezfv58nn3yS//53O/Bz4C+Ak+jog9x1l4Pbbrt0yPgnwskjWAIdQyA2YV1dXbz88su89tpr2Gw2br/9diorK/nqV786qu+jPzPjVatW8dRTT7n/Hg8++CCXXXYZAA899BBr1qxBoVDw6KOPcskll4zl40tMMNNS1AJdfhTFxxObzUZDQwOdnZ1kZWWxePHioL/koqvISJZbgYiZ5/E8I50nnmhl9erthIX9lHfe+S8XXHDBsO8j9kxzOp0UFhYSHx/Pjh07QtY3y+l0smfPHuRyuVd0OVb8/e38dVEWo5jBTMsB2tra3IkYnst1YhNOX8LCoLTURWmpi+XLBx/r7DTQ1SXDaPwKR49eyqFDv+fwYTN6/QAORxMNDTvZufMDbLZXgC7UajWVlZVUV1cze/ZsKisrKSsrG7NVlCAI45rMbTYbn376KevXr+edd96hs9MI3AE8BoShVm/lZz8zcPfdVw5bMD0VI7Vg8V3ive+++7j00kt59tln+Z//+R8OHz6MXq8fk5kxwB133MHdd9/t9djRo0dZt24dR44cobW1lYsuuoiTJ09O+g2CxFCmpaiNBU+3kezsbJYsWTLmL7ev+78ngiC4lxnVanVA3Ys9I7V77jHyt7+Fk5x8Dxs3fkBFRYXf1xgMBmpra7Hb7UMagIoOJeP5woliabVaqaqqOu1LO55RjOeSlHiXLi7XabXaERNTPBEEgagoFxUVLhYuFPfrwhCERDo6kjh8eC6HDv2IHTtMNDaaGBjQ09x8lEOHPubpp58DjiCXWykqKqKiooJZs2ZRWVnJrFmzSEtLGzUyHsuStcFgYOvWrbz//vu89957NDW1AsuAhxlcZpxBTMzH3HhjK9/5ziKv9j6RkZFe4q9SqaZEAfhERIs6nc5taHzeeecF9JqRzIx9efPNN7nmmmtQqVTk5eVRWFjIzp07Q1raIxEapqWoBfOldLlcHDt2jL6+PnJyctxuI+PB33Khr5gFs0QnipAgCPzrX8dQqW5mw4ZX/QqawWBAo9Fgs9koKCjwW/w5WsfqkTAajW4xKyoqwmw2h1TQxmuT5S8RY6TEFM+9KYfD4ffakckgNVUgNdXJRRfBYNq7CocjAa02n8OHL2fbtn7277fR02NGr+/mgw9285//fAr8G9CQmBhPRUWF109ZWZnXNRBI8bXVamXPnj1s2bKFl156iaamJiAWuBj4PbAEUKJUWsjN7eX221v59reXDbmmfRu1iiUHZrOZkydPepUdnO5GrSNZwo2VUFpkPfbYY7zwwgvMnz+fP//5zyQkJNDS0sLixYvdz8nMzKSlpSUk7ycRWqalqAWCaJ1lNpuJjY2ltLQ0ZHeonnt14xEzEVEkX3zxLbq7FTz66I+orq72eo7RaHSn/xcUFHjtSfkyFlEzm81oNBoMBgOFhYXDFrQPR6DPnQjvx5ESU8Sorre3l97eXmw2G729vQE5+iuVUFzsorgYrrrqVLRtNGZw7Ngcdu9eyWefDXDihIP+fgNHjzayY8c2bLY3gQeATvLz88jJySEhIQFBEIiLiyM5OdkdTZpMJj755BOf9iZKYAFwO/BDYPB6io1tpKysl8sui+CmmzKJjR3q/CEyXKPWnTt3kpqaisFgoKuri7q6Oveqg69rykQtrYWy7YxIqLpe33LLLdx3333IZDLuu+8+7rrrLp555hm/1+xkR7wS/pmWojbSxSRm/onOEUajMeSdpsU9Nc/u2ePxgBRF7eGHdzBzZhQ33fQL9+9MJhMajQaTyeQWs9E+SzCiZrFY0Gq16PV6CgoKqKioOGO+rL52WO3t7VitVtLS0rwc/cX0et/luuEcQqKiYP58F/Pnh/GjH4mR8kw6Ows4fPgCPvlEz65dVlpa7BgM/Rw82IHD0YXd3onNpsPhsAC9gAsIAy4Afgec7fU+CQn9XHFFOxdeGMOSJZHMnJkAjM/bUCaT+Y10PZN1mpqaMJlMQ87JWOrH/DERy4/9/f3jyuoVSUlJcf/7Bz/4AZdffjkwGJkNRs2DNDc3k56ePu73kwg901LU/GEwGNBqtZjNZvLz892Tc1tbm3vPJRSIS13Hjx8nPj6eWbNmjdsDUqFQfCGQTm64oRiFQuEVORUUFAQlzGLN2EjYbDbq6uro6ekhPz9/iG/mRDFRLv3BvP9wjv7DJaZ4Ct1wiSkAM2cKLFsGy5adKqOwWmeybZuNjz5q4MMPa6ipacHhcAELCA+/FJdrHlFRsHSpkyuvNHPZZQ5O3RvJAHE/ceLO2UiNWj3PSagatU5EpBaq5ce2tja3Zd369euprKwE4Bvf+AbXXXcdd955J62trdTU1LBw4cJxv59E6Jn2ojYwMDBkj8nX1DjQAuyR8PScFASBzMzMkDlTKBQKWltbATNJSVkcOXLEHWmOJXIaKVKz2+3U19fT2dlJbm4uxcXFIUtwCOR5ky1qwxGqxBSn08mhQ4f45JNP2Lp1K59//jn9/RZgLgkJV5KcfAtJSSksXRrFJZeoWLDAwalkyvFfpyMR7Hkf7pz4mht7Nmr17XLgLyKbqEgtFGbGW7ZsYf/+/chkMnJzc/nnP/8JQEVFBVdffTXl5eUolUr+/ve/S5mPU5RpKWoymQy9Xo9Wq8XpdJKfnz+sW3ZYWNi4nPo9xSw6Opqqqqphi6XHyikR2sWOHSu59dZkysvLxxw5iZOrJw6Hg8bGRtra2oLK/hRFaKSxOJ1OmpubsdvtxMTEjHjnPlVFbTgCSUypqanho48+Yvv27ezfv5+BARtwDvHxVxMT80fy8+NZujSK8vJuli2LIjVVPFborqFACFXmYyCNWltbWzEajTidTiIiIryiOofDMSFdr4NNaFq7du2Qx2666aZhn3/vvfdy7733Bj02mUwmE6bTRT/NmZaiJqabFxQUjHp3NtZIzZ+YicuM/f392Gy2MY3dF6vV6rabUigO0tCQjFqdwnjmHs9ITbT/am5uJjMzM+i6vJFESDR9bmhoYObMmYSFhXnduYvJB+JPqFr1jJVQprM3NjayceNGNm7cyI4dOxCEDOLiVhIX9xcyMxM46ywHZ51lJCurC5VKR3R0NAMDA7hcqTid0ZNylz/RhdeBNGrt6upCr9dz4MABrwzMkSywAkGv14esl1qoEQRBkMlk8UAZoAYMDDYt7BQEwTipgzsDmZaiFhsby7x58wJ6brCiJvoaarVat0Gu72QsJoqMB5vNhlarpbe3l7y8PJKTk7nkkov59NPfsmrVGv7yl7FPPnK53B2ZNTU1kZaWFpRjiu+xfAu5PY2Mk5OTWbhwodvXUYz+PJMPDAYDPT09mEwm7HY7KpUKu93uFrtg9mMmC4fDwfbt291CptVqgSpSU39Ebu7zlJbGcf31MSxb5sS3LFGMYPR6Pd3d3bS2tgaVmBIqJqPw2rdRK8CuXbuYN2+eu+RguEat4n8DuW6nqqjJZLJq4BIGxWwGkM5gjcYAsE8mk60XBOHQJA7xjGNailowhIWFBeTq7ylmognucM4RSqVyzMuPngkaubm5lJSUIJPJqKur49577+Xss8/m449/xn//u4CvfS34WjNBEDAYDDQ3N5ORkTFuY2bPSE0QBLq7u9FoNO4bCzEBx1fkh0s+aGpqcvs9jhbVTbbzRX9/P5s3b2bjxo1s2rQJnc6AUrmMtLT/o6hoHmedFcU116hZtMjJ4Lzr/5oQI5jIyEi3UXQoElOCxel0Tvo5FRmu5EBsSWM0GofsYXqeF9/rw2q1jtnpZYJJBCKBY8BaoJXBrJ8sYCnwqEwm+wxYJQhCaDoaf8k540VNqVRiNA4f4QcjZiJjidRsNhv19fV0dXWRm5vrtwh83rx53HzzzTz55AWsXq3B4UjhiisCEzZBEGhvb6eurg6lUkleXt6wrWyCQYzU+vr6qKmpISIiwm/0GmiEIZfLiYiIcGeYiWP3F9X5Fk+PN6obbVtDEAROnjzJli1b2LhxI59++il2u4ro6G+SnPwWWVn5fPWr0Vx1lYKyMtcXS8SB39x4Ln9OhGPKaITKOm0iUSqVfvuzeTZq7e3tdX+nu7u7+eSTT9w3hrm5uQGdF3++j//7v//LW2+9RXh4OAUFBTz77LPEx8dTX19PWVkZJSUlACxevJgnnngi0I/0qSAI/prWHf/i50mZTJaJ1KomZExLUQtmiWa45UdxCa2uro64uLiAxGy0Y/rDM9swJydn1ASN1atXs3//fvbuLeWppw5w+HAOv/ylk+FeIu79ebaB6ezsDNkylpjNp1QqKSsrC4n3o29m5nBRnWfxdKiiOs/zYrFY2L9/P9u3b3f/9Pb2AWXMnPlNsrMfISUlheXLY7j8chdpaaIojs2tJZA9vWAcUwC/qfXDvcdU8H0cS77ESI1aW1tbaW9v55133uHOO++koaGBlStXcscdd4x4TH++j1/5yld46KGHUCqV/OIXv+Chhx5i9erVABQUFIypV5sYfclksggG7WCSGCxS7GZwCbJJEITmoA8sMSzTUtRg7D3VfMVszpw5w5q/Doc/myxfHA4HDQ0NtLe3B5VtqFar2bBhA1//+tfZvLmIiIgNLF/+Vf7wByfl5ac+r6eTiW8bGH/Zj8FiMpmoqanBYDBQXl5OamrquI4nEkz2o2/xNIwvqmtra2Pv3r1oNBp27NjBwYMHsdtVwCISEr5GVNTvSE1NZu5cNZdeGsMFFzgYfOvQZCkGYpPlj0AcU/r6+ryWdv05pkyF5cdQCqtcLiczM5Prr7+eF198kTfeeAMITDj9+T5efPHF7n8vXryY1157bdxjlMlkckEQXMCPgPMZ3FdLACKAXGAxsHPcbyThZtqKWqCEhYXhcDi8lufi4+PHJGYiI0VqnmKWlZUVlHGyeCcfHx/Ppk2buOWWW3j55a9zzjnX8dvf/p3ExBh+/nMHiYmnlgL9OZn4uv4Hg8ViQaPRMDAwQFFREcCkNZX0RzBRnV6vZ/v27ezatYtDhw7R3q4DqlEqF5KY+BvS04tITY3iggsiufBCNdXVLk5dEqGvGRMEIaSi4k/0wTu13tMxRVx67OrqOi2JKf6YiAxMvV7vVV4Qis/0zDPPsGLFCvf/19XVMWfOHGJjY3nggQc499xzgz3kT4CrpKSQiWfailqgd/wKhQKDwcDnn39OQkICc+fOHbOYifgrbhabjba2to4pdV68kxaTAiIjI3nuuedYsmQJ9913H1bra1x22c/58Y+/jyDEsHJlNd/6lgp/Rilj8X70TGApKChw18mJmXqhYqLq1MQJXq1Wc/jwYdatW8fbb7+N2ZxATMwPiIj4PXl5akpKTCxZomLOHMjLcxETIxAdLSM8PHSfcTjGGqkFy3Cp9S0tLeh0uhETU6KioibU4Hgqu4mI/OEPf0CpVHL99dcDkJaWRmNjI0lJSezZs4crr7ySI0eODKnT88cXURrAX4EsmUxmBCxf/NgEQTCEbOASwDQWtdHwjMzsdjsLFiwYt5iJeE5MYh1YS0uLu9noWO5EfUVNfJ8f/ehHXHjhhfz617/m7bcfRiZbzeWXr2Tv3jtZu7aE0lKB737XRVXVKaEIZvnRM7L05zASahGaKFGrra3lX//6F//+979pb7eiVn+H5OTPKS6eyc03x7FsmZPu7hYg3Mv78XRmYE5m2xeZTIZSqSQ2Npbs7Gz3476JKUajcUhiitiUNBTnYqIitVB1knj++ed5++232bx5s/tvJa4MwGAyV0FBASdPnmT+/PnBHLod+BPwMaBjcClAJpPJfidlPYaWaStqw00OgiDQ1tZGfX29OzLbu3dvyATN833q6+tpaWkhPT2dRYsWjesO1N8+ndgGxmaz8cQTT9Df388jjzzCv//9b/T6NeTk5JCX9788+ui1tLXFc9llLr72n9tnOgAAIABJREFUNScxMaNHai6Xi8bGRlpaWsjMzBx2mXQ8bWz8EUpRM5lMvPnmm7zwwgts27YdmexSUlLWsWBBHt//fjzf+IbsCx9F7/Ma6r26QAn18mOw+NvPmsjEFH9MhJtIqBz63333XVavXs3HH3/sld3b1dVFYmIiCoUCrVZLTU0N+fn5wR7+YeD/MZgcomJwT00lCVrombai5ounmCUmJnrVUIUSl8tFc3Oze59ivGIm4mlC7OnML7aBAUhISOCvf/0rDz74IBs2bOD5559nzZqfIQg/ZdGipRw79nN27jyPtrYkcnIUXHmlnLPPduH5ffd0AUlNTR11/FPN1koQBPbt28eLL77Iq6++Sn//TOLi7iAv7wWWL4/h5pvVpKb6H+9IkdJwe3VOp9NdJDzeqG6yG3QGmqQRqsQUf/iuRoSCsRRe+/N9fOihh7BarXzlK18BTqXub926ld/85jcolUoUCgVPPPHEsLZ8/pDJZCpgmyAIfw9qkBJjYtqLmsvlor29fVQxG++E4nK5aGlpobGxkdTUVKKjo8nLywvZJCWXyzGbzTQ2NqLX6yksLBzWmV+tVrNixQpWrFhBU1MTL7/8Mi+99BJPPz3YJqO8vJLY2G/wzjtXs2ZNPk5nJOHhkJ5uIDa2laqqMM47byEzZ46+dxJIpCZmShqNRq+J3l/h8FhFsqenh1deeYUXX3yRw4frUCqvZcaMj1i8eAZ3353IokVi3djIxw7276VQKEIW1U0FURuPoASbmKJWq73ORURExISZGQeyv+VJML6Py5cvZ/ny5WMa2xdEAlUymexpYCPQw2Baf5cgCO3jObDEUKatqIkb3w0NDSQlJY0YmfmzegoUz8gmJSXF7dDR09ODw+EIyaa6zWajv7+f3t5eiouLg2oDk5WVxd13381dd93FwYMHee+999i0aRPvvvtHHI4HAYiLiyM7uxi7/XzS0i5gy5ZynnxSxeHDSvr6ZMjlAlFREBkJiYkCMTGDPcNmzhQID08nNjac3/wGfLctRN/K/v5+CgoKiIyMdEc1HR0daDQanE6n1+Rmt9sDXs602Wxs3ryZl19+mbfeehu7fT5JSb+jrKya738/jmuvDf/Ckmrikzw8GWtUZ7fbMRqNk+aWMlHej8G08hH36xQKRcgSU/R6vdc+4RQkDNACmcC9DFpmzQTqgfkeaf8SIWDailpXVxcGg4H58+ePuschOvUH84V2uVzu5cyZM2cOsZsS98DG84X0LMyOiIigsLDQy10iGGQyGdXV1VRXV/OTn/yEAwcOMDAwwEcfbeHYMSO1tXFs3pyI3W4FjgIfARqgC5crjIGBSAYG1HR0JAHRQAyQilKZQXi4gYyMz7n11uvd5Qx1dXV0dXWRl5dHWVmZO3rxtz/jObn19PRgsVjQ6/VuoYuJiSEqKsqd4LJt2zZee+013nzzTfr6VERE/JAZM/7ARRdFc/vt8RQWTp3lUE9Gi+ra29tpaGiYELeUQDidxdfDOabU19e7s0A7OzsxGAxeiSmenbcDHatOp6OqqmqiPsq4EQShE/jWCL+XBC2ETFtRS01N9bpLHolgHEA89+aSk5NZsGCB38lmPH3a/BVm19XVhSwh4/BhK6+8MoOamgr6+89FpWojK2s/kZEfcPDgb4HRvTBPjXXw51e/gmuvvRir1UpLSwtZWVksXrzYy8DYH76TW1xcHDqdjuzsbPfyXWNjI3v27OGjjz7i448/prvbQXj41SQnv0NpaRq33hrPJZfIvvBXHLugTcbeoGdUp1KpqKioAEK7VxcoU6X4OjY21muvzjcxRVzOhcASU8bSS+10IJPJSoAfMJjxuFsQhLYvHpcxuCSpYHAOdgmCoJu0gZ5hTFtRC4ZABMizBCApKWnUCDAQVxFfnE6nO+PQtzA7kG7Vw+FywY4dMtavd/HxxwOABqdzIx0dr9PVdQIYrHurqqri5pu/S1VVFdXV1VRUVLizvOx2O01NTfT29mK1WrFardhsNhoaGoiJiaGsrAytVhtQcslIiHtqYWFhtLW18dprr/Haa69RX9+HQnEVycnrmTUrlW98w8WSJV1ERNQQHh5OQ0OM10Q/1r2pydzT8iSUe3WBMhW8H/0tgY4nMaW+vj5k2Y8TgA5oAM4C5spkMtEeyw4kA8sYTO2/ddJGeAbypRc1zzYqCQkJAWdNBhOpiRmTjY2NpKens2TJkiFf7LFYW9XWynjxRTkffmgCttHVtYb6+tcBmDFjBhdeeCFLl97G2WefTWFh4YgTWlhYGPn5+V6pyoIgcOTIEXp6elCr1VRUVIx7iaypqYm1a9eyZcsWjh5tQSb7H5KSXqC6OoOVK+P45jfDObU1k+ae6AcGBjAYDHR1dWEymbxc3kPtZj9ZTHQG5lTwfgxmX2+0xJTe3l4ef/xx9u7dy/XXX09ZWRkXXnghP/zh/2fvzOOjKq83/p0l+x4SQkISsi/ITlC0LrjVuosLIFotFWmttriLoNYqIq51a+tS91YtWAWhdfeHiksAJRqW7Pu+z5LZZ+7vj3hv7yQzySSZSYaQ5/PJR0wmd965mXmf95zznOf8ZtDrujIz7urqYvny5dTU1JCWlsaWLVukGuGDDz7Iiy++iEql4qmnnuKss87yaP2CILQCTysUijTgHGA+MA0wAD8CdwmCUObRxSbhMRRDpGT8s3jB/061nkD0R5T7F8rd+aOjo0lPTx9WL1t5eTlRUVGD1sD6i0zS0tLcbryNjY1YrVbS0tIGfV5BgN27FTz1lEB7exXt7ZuprHwN6GsMvfDCCzn//PPp7u7mhBNO8Pj19EdPTw9lZWXY7XamTp1KZmbmoI93OBxYLBaXm2ZLSwv//ve/efvtt/nuuxLgEmJiVpGcnMQvfxnN8uUhDHcUlt1ulyIa8au/KKW/FVR9fT1qtdppQsBYYu/evSxatMgr1+of1en1+iGjuuLiYknQM144cOAAGRkZXl3DWWedxfvvv09rayudnZ0cf/zxgz7+iy++IDw8nKuuukoitdtvv53Y2FjWrVvH5s2b6e7u5qGHHuLQoUNcfvnl7Nmzh6amJs444wzKyso8IWYFTE69Hg8c2UdbDyEKRWCgq/1IPSCHiv7kqUx3dTk5VCoVJpPJ7c8FAT74QMljj1no7f2Kw4evw2SqIisriwcffJBLL72UlJQU6fFff/31sF8TgF6vp7y8HEEQyM/Pp6enx+NalDy1Z7Va+fDDD3n11Vf56KOPEYRjiYlZT2bmTM47z8Qtt2QymoyRSqUaUpQiKu7UajXh4eFYLBbCwsJ8PgF6LDCSqM5gMNDV1SUNKJ0oCkyDwUB4eLjHriKuzIy3b9/Orl27ALj66qtZsmQJDz30ENu3b2fFihUEBQWRnp5OVlYWe/bsGZI4Rfw09VoFKPmfTFf46UeTZOcDHLGkNtzxMyaTSSKz8PDwYY2acQVXM9X6R3/DaQAfrEZXUaHg97830db2KYcP/xqFQse5557LjTf+neOPP94rdSKTyURFRQW9vb3k5ORIqRetVjssc+Ty8nJee+013nzzTdraBCIifkdKylOcemokf/hDOFOn9tDSoh8VobmDO8Wd1WpFr9dLNcPOzk4EQZAimoiIiCNmAvdQGKxW98MPP0h10vFSYHrb+1HkhdESdGtrqxTBJyYm0tbWBvRlUBYvXiw9Ljk5mcbGRo+v+1OkZsdbox4mMSSOWFIDzxp5BUHAYDDQ0NBAXFycywGXI4FarZYmaotjYCoqKoiIiBgRYbojtX/8w8YDD9RTX38+anUDV1xxGevXryc9PX3UrwH6Nvyqqio6OzvJysoiPj5+2N6Pvb29vP3227zyyit8880+lMrzmDr13yxePIMbbojh7LMF+jofBLTasRdqBAQEEBMTg06nIzAwkGnTpuFwOAatU4lENxpRir9AjOqUSqXTEM3xUGD6qq7nq7+Rq/e+p88lph4VCsWpQLMgCCWyn0UAvZNyfu/jiCa1oSDOG1MqlcTExDBr1iyvXVucqN3V1UVFRYXbidCewpX6cd26Ll599VO6u1dx/vln8/jj7zulGEcDu91ObW0tzc3NzJgxY4CRsQh3jiJWq5XPPvvsp8boHeh06URF3UhGxj9YsSKCa64JIT5ewFVZdryyLvLnlQtNxFqrvE6l0+lob2/HaDSiUCgICwuTiG4kohR/yDT1dzQZDwUmeJeAvOUlmZCQQHNzM4mJiTQ3N0uRfnJyMvX19dLjGhoaSEpK8vSySvoitJuAQIVC8SdBEL756WebgReA4U8encSgmJCkJhKN2BfkcDiorq726nMYjUbJEmjmzJmjnjkmVz8KgsCtt5bw/POfExLyR7ZseYMLLrjAG8t2svtKSkoacqqAPFJzOBzs3r2bLVu28O6779LZCSEh1xAd/Q2nnRbOtdcGsHhxMIGBAbjTGI23l+RgG+pgdare3l50Op1bp5Sh5pONt0WWiKHWMBYemN7ESCyyXOGCCy7g1VdfZd26dbz66qtceOGF0vdXrlzJzTffTFNTE+Xl5Rx77LGeXlZ8owcDFcC1CoUiThCEHUAOkylJn+CIJrX+G2R3dzcVFRUEBAQ4EY3RaBxxo3R/6HQ6ysvLsVqtREZGMm/ePK9cV0w/9vT08Pe/F/LsswIpKU/xwQeFQyoiPYFY76usrCQuLm6AQ4o7KBQKiouLef7553n77bdpauomMPASpk7dyXHHpfC730Uzf34jbW0VREVFceBA3+iS4OBgpzSeuOGPN6mNBCqVisjISKfNcyhRinxsi0ql8htSGymGE9UBTjPafFmrG8ksNVdmxuvWrWPZsmW8+OKLpKamsnXrVgCOOeYYli1bxsyZM1Gr1fzlL38ZTmQovtHj6JP0/xy4RaFQ9ACR9PWxTcLLOKJJTURPTw8VFRWoVCry8vIG9LWI069HA71eT0VFBVarlezsbNRqNZWVlaO6phxGo5Hu7m56ew088EAEU6bcwieffERycvKIrylupF1dXZSXlxMeHu7xkNRDhw6xZcsW3nrrLWpqGlCrz2batNeZOzeHK6+MYflyFTZbM9XVhajViSxevBi73S6RlslkkjY7+YYfFBSE0WhEp9NJ1lhjBW/PhRtMlCI39xUEgeDgYMxmM52dnUREREwIUcpIojqz2UxLS4vXorqRzFJzZWYM8Omnn7r8/oYNG9iwYcOw1yZTN5YC4YIg/FehUDQDjwNZTJKaT3BEk5pWq6W0tBSFQkFOTo7bNIQrpaKncDcGRjRnHS0MBgMVFRWYTCaCgoJ4+eXDGI16tm9/aFSEplAo0Gq1EtnPmjWLsL7hYm5RXV3N1q1b2bJlCwcOHEShOJFp0x4nI2MOK1dO5aqrAklN7atVin16YruCIAhS+lShUBASEkJISAjx8fHS9a1WKx0dHdTX11NfX09vby/AgHqVLycv+zpaEkUpcnNfh8OBRqOhtLSU7u5u6urqBqTuxKnd490c7Q24i+p6e3s5dOgQJpPJa1GdNweE+hA3CYLQ85NwZL9CoVgK/BroHe+FTUQc0aRmNpvJysoa8k09ko3MZDJRWVmJTqcjMzNzwBiYkdhk9b9+VVUVWq2WrKwsYmJi+PLLL9myRcdpp+k4+eSTR3xtg8GA0WiktLSU3NzcQe9Pc3Mz//73v9m6dSuFhYXATJKS7iA7ewm/+EUkl1xiJTKygZkzk9HpdOzbV4parR6RKCYgIICoqCg6OzuZOXMm8D8rJFGYUV1djc1mc6pXRUREEBQUdMSm75RKJaGhoYSEhJCVlQUMFKV0dHR4TZTiCuOd8hUnbwcHBzul00dbqxtJ+nGsIY6XESO3n3weHx/XRU1gHNGklpCQ4LVamQiz2UxVVRU9PT1kZGQwc+ZMl5vpSA2N5RL6jIwMpzEzBw4cwGKZzq9/HTfEVVzDYrFQWVlJT08PwcHBzJ0712WfXHV1NTt37uS9995j9+6vEYT5TJ16LZmZb7B4cQxr1oRx7LECCgVoNBZqaqwUFxdjMpnIycnx6snY3RRqk8mETqdDp9PR1NSE2WyWPP9Eohtu+mo8N3bRmV7EcEUpwcHBTkQ3mCjFFfyhpueqR22oWp042cFVVKdSqY4IUpvE2OKIJrXhYrAPttVqpbq6mo6ODtLS0sjLyxtSKTccyJ35Z8yYQXZ29oANuaGhAYgjNzd/2NcWR9ikp6eTl5fH/v37pU1cEASKi4vZvn07O3bs4McfS4DTiI29nrS0Fzn11EiuvjqGRYsE+pbU93tWq5W6ujo6OjqYM2eO26Glw4EnQhF5+lJer5KLEuQNxMOJbMZrYxcEwSMCdidKkZP8UKIUVziSfB89rdXdd999FBUVERkZSWtrK3PnzmXZsmUeCzlKS0tZvny59P9VVVXcd9999PT08MILL0ip802bNnHOOecM89VOYrxw1JCamC7sv+H1Jxv5OBVvwOFwUF9fT0NDA9OnT3dy5neNcioqzmT27OFdOzk52WntSqWSpqYmtm3bxmuvvUZJSTlwPlOmPE5e3gzOPz+cq6+Olc0mE5yuK04TSEhIIC4uzqk2NhqMRv0YGBhIbGwssbGx0vcGk9uLROcPwozRREruSN6dKEXeTya+dn+wBhutm0j/qO7111/n/vvvJy8vj8TERA4dOjSsz25ubi5FRX1tYna7nenTp7N06VJefvllbrrpJm699dYRr3US44cjmtSGa5Ul/1ANNgbGGxAEgaamJmpqajwe19LX1Pk6b765mqVLB7+2fICp/Nrbt293On3CFOA3wGmcdJKOX//ayCmnqEhKiqF/L5l43erqaqZNm8bixYsxmUyUl5eP5Ba4hLcjpcHk9jqdDo1GQ2NjI2azGZvNRnh4OHa7XUpfjlXk5ov0nztRihjNyMe1qFQqLBYLLS0t4yZK8QWx6nQ60tPTOfXUUzn77LNHfJ1PP/2UzMxMZsyY4cXVTWI8cEST2nAgkpo8unE3BmY46L9ZyfvBPDUzFpGfn09ISAVFRT00NiYyffrA5+ro6KCiooLo6GiXM98qK+uArcCl0vciIkpRq//Kl1/u5ssvS4E+f8dTTjmFJUuWcPLJJ6NUKgcoGsE3zdK+rm3J5fYJCQnS98vLy1GpVJjNZidhhjyqEWs13kb/mpqvIHdKkaO7u5vq6mqprUCeupW/dl+O7/GW+4cc3qqpvfXWW1x++eXS/z/zzDO89tprFBQU8NhjjzkdHCbh3ziiSW24kVpjYyMdHR2jHnQpQrSQEj+oIuFERER43A8mR0REBMuWLeONN37Nr3/9BTt2BCBylkajoaysjKCgIObOnetWeXjjjb/HZFIRFFTDZZeFEBoaTUNDOiUlj/LDDxa++85AS4sOs7mY11/fygsv3AB0M3v2bNasWcMVV1zhRJTubLJGivFsvhajOvkgSvkIm+bmZvR6veRiL2723khfelpT8xVUKhWhoaFOkYiYutXr9dJBTBSluGqcHy1cpf9HC41GM2rCsVgsvPfeezz44IMAXHfdddx9990oFAruvvtubrnlFl566SVvLHcSY4AjmtQ8gZhSa21tJTY21mMnDU8gRn+iy0hgYCCzZ88esh/MHVQqFXfeeSdvv72Q5uYHuPbaP/Hkk3qqq8twOBwuG8v7Q6mE9evtlJRoCAsLZMoUiIsTmDdPYMUKNRCJIETy449xvPPObD755E90d1tpaXmH3/9+A/fffz833XQTa9asISwszOsk5G+OIu5G2BgMBnQ6nVMKLzAw0KlOFxIS4vFmP97qQ1dCkcFEKf2dUsR6lieiFHew2+0eT63wFN4gtffff58FCxZIUb08ur/22ms577zzRnX9SYwtJiypycfAxMTEkJycTEREhFcbewVB4Mcff0SpVHpEOENBqVQybdo0nn/+ea644goCAoJYuvR6/va3dPLyhpdicWWQDP9rKejt7eSGG7K59944LBYF//3vrfz5z9fS1PQld955PU888QR33XUXV155pVcjtSMBYlpOfjhxN4FbpVI5pS/dbfZjlX50B7vd7lGkOFjj/FCilPDw8EFJy9tjZ6DP6We0vqtvvvmmU+pRNDYGePfdd71qhD4J3+OIJjVXm4RYd6qsrCQiIkIaAlpXV+e1njbRBUSn05GTkzMq5w85xHrP7NmzueGGG3jmmT9RUFDP9dc/w6pVSlaudOBpBktukAzOisb+rvxBQbB0qcDSpZEUFp7HHXecQkPDe/z+93/g6aef5oorrqCgoGDITVGeinWH8YzURvO8cpm5PH1ps9ncbvbyyGa804+e/G0Gw3BEKe4ap70tFPHGLDWDwcDHH3/Mc889J33v9ttvp6ioCIVCQVpamtPPJuH/UAzxQfefPJEbWCwW6c0tzjQLDQ0dMLa+ubkZo9FIRkbGiJ/LbDZTWVmJRqMhKyuL9vZ2EhMTvVJEttvtFBYWYrPZyMjIICkpiX/+85/8/ve/Jzg4gp//fAft7QX87ncOTjlFQ1HRfg4cKKWsTE9LixlBUKBUKoiJUTJ9eijBwWZycrI46aSTMBgMkqIxLS1tyI2lb8q2gnvu6aa19QXa2u5j3rxjePTRRznxxBNdPF7A4XBgNpsHjHdRKBROm47dbqeoqIiFCxeO+p4NF5WVlURHRzv1PvkC8s1ejOxEUUpCQoK02Q8nfTlatLa2YjKZxkTdZzabJaLX6/WSKMVisZCQkEBsbCwRERGjjtoEQeDkk0+WZPl+hiPT/mYCYEKQWnd3N+Xl5QQEBJCVleUyHdHe3k53dzc5OTnDfo7+LiAJCQkoFArKysqIiYkZVQ+XIAg0NjZSW1uLSqUiJyfHqQ+rrKyMa6+99icLq2TgC0AcEPoRUEloqAmFwoEggNkcjN0eBcTQ97nSEhFRzoknWlixIo9zzjnL4zSp3Q7/+Ac88EADvb2P09n5N1avvoZHHnmEkJAQiczk6Unxe4IgSF/ynykUCn744QcWLFgw5pHLWJGaK7S1tUn1HznRyWtVYvrSF/elqakJu93utXl8w4V4mImLi5NIb7BpDp5e89RTT2X//v0+Xv2IMElq44QjOv0IcPDgQUwm05A1rZHYWg3lAqJWq0fs/9hf+n/sscdSVVU1IEWWnZ3N2WdfQWHhFcAMYAPwNQUFdxAU9EvmzDmVlSsFCgr6bK0EQaCqqoqdO3dSVlZOQ4ORPXsCef/9hbz//nTgLY47roaHH76Q444bfC6USgVXXw2pqQ0UFj7CSy/9nr///WKKi3/Bu+++S2RkpERU/X0xRYiE53A4MBqNVFdXExISgt1udzJAFr98SXTjKVARBIGAgADi4uKc0pfyWlV/k2f5Zj/aWvBo04+jhUqlQqlUkpSUJL2W0YpSdDrdqOvYk5h4OOJJLTc316MP63BITexlq6+vl5w6XD3HSN3/xVEwYWFhTtL//nUwQRBYs2Yzr79+Cscd9x+efnox+/adxJ//vI99+34H/I4ffvgVL730AGazfBpvKzATyAesgIm+oLsbOIfCwgxOOQXgMPHxjcTHm0lPNzJ3bgBnnZXCggU5TptoUJCDdetUXHllGpdd9jF7997LqlWrePvtt4ckIfE11dXV0dbWRkZGBvHx8VIUJ0Z1Ivn5muj8zSbLXa1KlNrLTZ5HE9U4HA6f9qB5gv59au5EKYPVKeWClJ6enknfx0kMwBFPaqIF0FAICAjAarUO+hi5C0hCQgKLFy8edCNQq9VDXlMOnU5HWVkZSqWSY445ZkCatL/z/5tvvsPrr5/MVVd9xrPP3o9SqcRsVpOVdRfl5SpgCnp9GXAncBiAKVPOJzb2YtTqINLS2li40MHMmb2EhprQaDRoNP+hvr6eRx55C3id9vZfoVDkcfhwHP/5Tz6bNtlQKDpITGzhggtg7drjpHuTmOjg//4vigsvXM2HH27h/fff59xzzx30fra0tFBTU8P06dM59thjpY1d3Iz7R3XylOZYEd1YYDiSfrnJs6jCcxfVqNVqp/SlO5NnT9WPvoYna1Cr1URHRzsRlhjpi20Wb731Flu3bsVms3H77bczd+5czj77bKfU/VBIS0sjIiIClUqFWq1m3759dHV1sXz5cmpqakhLS2PLli2TjddHGI74mprNZvOI1Gw2G9999x3HHXfcgJ/JU4GxsbFkZGR41Gzb0tJCb28vmZmZgz7OaDRSXl4uudy7O12KdTVRTZmZuQkQKCtbxzvvfM9tt7XS0hKMSrWDxYtbOeecRaSkpLB//36+//579uzZg9FoJCAggPnzTyAp6VxiYn5OZ2cmJlMoMTF9acqCAgdZWb2kpX3MokV2fvObS6mvd1Bb20NNTRdNTXqqq2MwmfrGpISGHuTRRytYseJkAgMDsVptpKZ+RErK/7F376MuX4tY54yKiiIjI2PE6TM50ckjOjlJiIIU8d/uUFFRMcA7cqzQ2NiIIAheU8qKsFqtUo1Or9dL6cv+Lim1tbXjVk8UsXfvXhYtWuS1633xxRe88847LF++nKKiIpYtWzasKfFpaWns27fPKR18++23Exsby7p169i8eTPd3d089NBDI1neZE1tnHDUkJogCHzzzTeccMIJTt8XB15GRESQmZk5LBeQjo4OOjs7yc3Ndflz+SiYrKysIV3uGxoasNvtzJgxg87OTqZP/4IbbjjErl35HDgQTFzcc9x222msXLlSmiogVzSazWa++uorPvnkEz744ANKSkp+IoEg4uNPJS5uOa2t59PVNXBjCw5uRKXqBDoQhHbAjMGgoe+zeQMA8+bdxKZNPyc6Opp//OND/vrXOXzzTRJz5syRrmMwGCgvL0cQBLKzs0fciD4Y5BGcO0GKUql0MneGPpusKVOmjAupNTQ0SDUlX0PuFCJGdgaDgdDQUEl5KKbwxjId621S27FjB4cPH+b+++8f0e+7IrXc3Fx27dpFYmIizc3NLFmyhNLS0pFcfpLUxglHfPrR0w9l/8fH3W+/AAAgAElEQVT19PSM2gXE3aBQucBEHAXjyTpVKpWUzmxubgbCeeaZGSiVu7n77jhuvvktiTREj8ba2lpee+1f/OpXlxMUFMRpp51GTs5pZGTcxccfm6mqstPQUE57+27a2/cBbcA84Ftg40/PHIzJFAQEAkE/fQUCIUAU8C6wn6KiZ7nlli/46KPrWbnyTP76127++c9/0dvbK6WBrVYrGRkZTJs2zWcbZn+yAmdBihjViaQnrkOe1hzrVNxYOoq4cgopKSkhJiYGhULhZPIszqgTiW64M+o8hS9EOlqtdlSz/RQKBT//+c9RKBT85je/Yc2aNbS2tkop38TERNra2ry13EmMEY54Uhsu9Ho95eXlOBwOcnNznT74w0V/8YnD4aChoYH6+noPx8w4Q06Sfb93HnAXn356GbNmzeLgwYNOU6dNJhPHH/9P9PoH+eKLZzGbz+HwYRVdXaW0thYC9YCSPhIroI/Q3gP+xLHHziI09GcYDAba29sxGo1YrWYEweQk4rBYLJjNZjIyMliyZBcvvngpW7f+m9/85lqCgr6ko6OLpKQkGhoamDJlCgEBAbS2tlJTUyPZSkVERBAZGelTV3xXRAd9fxObzUZdXR0ajYbp06ePi/JyvB1FHA6HpKh0NaNOPoxTPqNObDMYrcjEFw79PT09o2qn+eqrr0hKSqKtrY0zzzyTvLw8L65uEuOFI57UPN0oDAYDRqORQ4cOkZ2d7ZXir0hCoiCiurqa+Pj4EZsly9WPBw4cAOYDP/Dll0G89dYOzOZIOjoUtLV9QFtbKDU1K4A+E9Y33/wtUAf8QJ/aMYg+Qqvk2GNb+MMflnL66T8nJmb5gOeVizPE+9l/8oDoBPLGG5/wySf7WLFiNRBAe3sjNpvNpUJUtJXSarVOtlIiyfmyL0tcd0dHB1VVVZKJtWjQPNaCFH9wFHH1/EPNqGtpaUGv12O3251MnsPDwwkMDBxWT5m3SU2r1ZKVlTXi3xdTwVOnTmXp0qXs2bOHhIQEySarubnZ6QAwiSMDRzypDQW5C0hQUBDz58/3qqGxwWCgsLCQyMhIFi5cOKj3ncVioaKiArPZTE5OjlPKs7W1lf/8533+859ySkoiqawUTVR3cM89APsAK0plOg7HNNlVbwBeA3QAnHnmmfzyl7/ktNOW09jYyNy5c92up3/zdP9+MxHi93bs+AGjMZCcnHiWL2/AbH6AU05Z4lYoExgYyJQpU5zECaKwQafTUVtbi16vl8aliGTnjfEver1emmowf/58p7+LuLm7U166ajEQf88TQYorjLeh8XBIxZ3RseiS0tPTM8ASS56+dPU6feH7OBoz497eXhwOBxEREfT29vLRRx9xzz33cMEFF/Dqq6+ybt06Xn31VS688EKvrnkSvseEJTVRSNHR0UF6ejr5+fns378fm83mFVITR8H0pQCPdzsKRsTKlY/w3nv7sNn2Ak3Ex8ezfv16amtNbNtmpqYml77mahNQCFwFzKUv8oKoKAe5uTp6ep6mrOxvwF+BVzj7bCULFvyBBx54gCeeeILf/va3QF9k6s6I2FMykz9+2bJKPvgggqlTH2D//mcoL3+LuLgfWbXq1WHctb7WCleRgV6vR6vV0tjYKI1/CQ8PlyI6T22VrFYrlZWVki+npzUXd0Qnrk+ekpV/z5UgxRX8If04mkhRbvIsd7EX3UF0Op1Lk2fxyxeR2mhmqbW2trL0p0m8NpuNlStX8otf/IJFixaxbNkyXnzxRVJTU9m6das3lzyJMcART2r9Nwq73U5tbS3Nzc3MmDGDxYsXSx/mkbiK9Edvby/l5eXYbDZycnI4ePDgkIQG8PHHGURGZjBjxl0cOBBIe/scbrpJ/OmTwO1APSqVivT02XR1tdHV9SMQAbyLRnMGe/a8C2wH/gS8T33934mPj+fFF18EoKCgQHo+V3PQ+ltYDUZmDoeDH344yF//WsWOHXHodAnAbByOf1BZeQOdnVvZsmWLV5SErsa/iA3IWq2W1tZWKioqpBSYPH0ptl6IdmP19fXMmDGD3NzcUZPIUIIU8X6K0dxg6Ut/TT+OFqLJszwat9lsUvpSnFFntVpRKBTU1tZKkd1oZ9SNJlLLyMjghx9+GPD9KVOm8Omnn45qXZMYXxzxpCZCFGnU1dW5dQEZDamZzWbJmT87O3tY/T59TaN1gIOuriDASnLyCzQ0fMrUqUuIjj4Fm20H4eFTCA8PJjAwlkcesXPiie1cfPHFfPnlmcApwIvAAQCSkt5g48Zv0Ok+4913X6WgoMDJJLj/6Jn+asD+G3VTUxPFxQfZvbuR3bsFiosTMJtjgHhCQ8NJTu4lIeF2vvvuEVJTU9m2bRtLliwZ0b30BPIGZPlrMBgMaLVaOjs7qampwWKxoFarMRqNREVFSSKa8RCkuEtfyu/9eCgvxfWN1fOq1eoBh5S2tja6u7sJCgqiu7uburo6rFYrQUFBTunL4Zg8j1b9OImJiSO+T00QBKqrqyUXkLS0NLdpqpEYEMvTmHIzYxFff/31gN43EXV1dTz22L947bVQjMabgX+xbl0911xzESkpKZLDiGhkrFar+e67H0lOLkD0nbXb7fz5z3/mrrvuAu4DkoAS4DZALGLbCQgoIiOjmbQ0O0lJahITAzGbm8jLSwcc6PUaNBoNHR1m2tvNdHRYaGy00doajEYThcMRB4QCQQQGKomMDCMkBOLjS9Dp/kp5+S6io6O5+eabue666zyKTn0No9FIWVkZNpuNqVOnYjab0Wq1mM1mgoKCnCK6sXTEFyEqL2tqaujq6mLmzJkDohNXkwx8AW/3iA0XLS0tWCwWUlNTpe/JZ9T1N3mWE50778dTTjmFPXv2jLv9lxtM9qmNE/zy3TBcWCwWFi1aNGQ6wxOrLBF2u536+noaGxtJTU11SmMOBkEQ2LXrczZu/JyvvpoDZHHiicXs3n0D+flB3HvvJoxGI8XFxRiNRnJzc6XTpt1uR6GwITdS7+zsRKMJAJ4GGoDVP/3kUfoUjouIi/sFFst8KirmUVoqOlZYfvoSZP8GsAM2VCoBtVpJUJCCqVMFoqMFwsIgPr4Di2UvTU3/oLT0G+rrBebPn89f//pXLr30Up80Uw8Xdrudmpoa2tvb3UbNIsGJCj6DwUBAQMAA5aUviU5UXiYlJUkWYf0juv4pTEEQUKlUIxak+CtcCUWGmlGn0+lczqhTq9VSJmI8TZon4Z844klNoVCQkZHhUXOnJ+lHuf9jYmKiWzNj+fOLvnSvvLKFxx5rpqnpREJC4lizpoJbb11OaupSFi16Bp2uldLSUjo7O8nOzh7gMNK/DrZnz17OOutrjMZs4HngA+lnKSkpxMfH8+OP39LRsRvos0ZKT88gIiIVs3kqJlM0KlUYDkcAgYGRREREEhUVSHCwA7tdj83WgslURVNTMbW11Wi1Wuk1zZs3jw0bNnDuuec6OYaMJ+TTzPt7SfZHUFAQ8fHxA6Y3i0TX0dFBb2+vlOYUiS48PHzURGIwGCgtLf3Jrswz5SV4R5Dir7Db7R4LtNx5PxoMBnQ6HQcOHGDjxo3U1dVx4YUXMn/+fC666CLmz5/v0fXr6+u56qqraGlpQalUsmbNGtauXcu9997LCy+8IL1nNm3axDnnnDP8FzuJccURT2rg+TRlsfbiCoIg0N7eTmVlJTExMR5FftBXK/jtbzfzr39NwWzOIyWlkaefruXKK39NSEgIII79MKHV2gkLC3OaOt3/dYj45JNdnHdeI329Z3cQGxvL+edfzeWXX84pp5wiPdZgMPD9999z8OBBSkpKKC8vp7LyIO3tu9Dr9YPei4iICKKjo0lMTOTUU09l7ty5nHzyycyePdvlTLrxhJiqDQkJYeHChSMSGQQEBAxoMRCjAq1WS319vXTP+isvPYkIxAiyo6ODnJwcj0UMg9XphitI8VeMVtIvtn2Eh4eTmJjI6aefzsknn8zTTz9NUVHRsEZAqdVqHnvsMRYsWIBOp2PhwoWceeaZANx0003ceuutI17nJMYfE4LUPIU7V33RfDckJIR58+ZJZOQOgiDw8cefsHHj1+zZMw+FIoclSw6xYcMsfvazDRLhCIJAc3Mz1dXVBAfbEYRQjwxtP/nkU847rx74grCw7fzlL6+wdOlSlz1woaGh/OxnP2Px4sUDFI0mk4menh4nCb9YxA8ODpZMnENCQggICMBgMAB9tUBv9oyNBqJ/Zm9vLzk5OaNygHEFV1GB2GIgqvfKysokRw55VCePPMQDUWJiIosWLfIKycijMxFDCVLEGl1/ohvPWXLg/eZrvV5PZGQkM2bMGPY078TERMkKKyIigvz8fBobG722tkmML44qUgsICHBKP+p0OsrLywGYOXOmR9HJ//3f56xe/TmNjacRGhrLihWFrF//K3JyLnV6nGiULHo0xsd/R3Hx0PWb6upqrrnm/4AMVq0K4vHHG9yS7FD9ZsHBwUybNm3A7+l0Ovbv309wcDALFy50MnGW94w1NDSMKnIZDUQ1a2Nj47D8M70Bdy0GovJSJDCbzUZQUBBGo5GgoCCOOeYYnw+tHEnjuNgjN17KS3Et3nzPaDQarxxwampq2L9/P8cddxxfffUVzzzzDK+99hoFBQU89thjk2NnjkBMCFLzdLMTa2pGo5GKigqMRqPHllkOh4N1657kqadmERMTxN/+VsfKlWuoqKhwstKRKxpFeTlARIQSi2XwmkJrayvXXHMd8AHr1+/innv+5vJxw22eFiG2JZhMJrKzs11uCu42dFGh1tTUNKA5WiQ7b21anZ2dVFRUSBPB/UEMIE9/wf9Sja2trSQkJCAIAmVlZVgsFoKDg50iuuEM8xzp2sA10fX29lJWVkZsbKyT5+VYC1K87Sii0WhGLefX6/VccsklPPHEE0RGRnLddddx9913o1AouPvuu7nlllt46aWXvLTiSYwVJgSpeQpBEOjp6aGoqIjMzEzi4+M92mwEQWDlyvvYtu3nXHDBh7zyyh0SWbkiSrmiUUR4uAKrNXBQu6QbbrgBuAjYyt13P+5yHSMhM7EhXT55ejibrFKpdEl0YkQnT9HJ7a48dQERIUr0AebMmTNkGni80NHRQUVFBdOmTRugihUEwUl52djYiMlkIjAw0CnS9WUvnQhx2nhubi7R0dEuJxm48r30hSDF25HaaKdeW61WLrnkEq644gouvvhiACenlGuvvZbzzjvP3a9Pwo8xIUhtqM1BPFU3NzejUChYvHjxsDaUrVu3s23bmVx//dc8+ui9A363rq5Oin7czUyLilIBwZjNZpcz29577z127NgBbGPDhvIBhsKeOoHIMdjk6dFCqVQO8Ad05wIyWC0KkHq5RFXoeMw78wQi6YrqUFd/R4VCQXBwMMHBwQPc8EWia21tlfqxfGHu3N3dTVlZGVOnTnWq73kiSBEbxcG7ghRfRGojJTVBELjmmmvIz8/n5ptvlr4vGhkDvPvuu8yaNcsra53E2GJCkJo79HcZOf744yksLBz2CfnFFw8TEVHNww/f5DSbq66ujqamJuLi4pg/f/6g142KUgNhGAyGAZuhTqfjpptuos/7UcuvfnWR9LPBnEAGg3zydEFBgddMnAeDKxcQeS1KFKbI7a5sNhvt7e2kpKR4TWDhbTgcDmpra2ltbSUnJ2dEpBsYGEhcXJxTP9Zg5s7yFgNPIxyr1SpNWJ89e7bHDfLeFKS4g7dtwkZDal999RWvv/46s2fPZt68eUCffP/NN9+kqKgIhUJBWloazz33nNfWO4mxw4QkNUEQaG1tpaqqShoFM5pNPSICzOYwuru7mTJliqRonDZtGhkZGR5FTnJS678p3n///T+pr17h2GMLiYs7f8SpRvnk6WOOOWbcm6XltShx1IfYb1ZRUYFSqUStVtPQ0EBXV5dTjW603oDegCj4mTZtmlcjXXBv7iwSnVyoExYW5tbcWR6Rp6enD3C9GQlGO8nA14eT0ZDaiSee6FINOtmTNjEwIUhN/gEWNyFPRsF4inXrfs5//1tJfv7L3HijwIUXniP1sTU3N7vtfZMjIiIYGNgn9+233/LUU08BG4iMbODuu38h+RmKr82TDUq08+rp6SErK8tvU3gWi0WKJubMmSNFdf19Haurq7FarU4GxpGRkWNGdCaTidLS0kFTjb6ASqVy2Xgsthj0N3cODg6mq6uL8PBwn0fknhCdO4cUb/tearVa0tLSvHKtSUwsTAhSg743eVlZGWq1mtmzZw8aoQx3tlVubg5/+9tB7rpLy/33/4K//W0nv/1tOFdddQHBwcEeNX6KqSCxF8zhcPDcc89x0033Ac+iVLbx0UdnEhUVSXFxMcHBwdJGHhkZ6Zac5dL3GTNmkJ2dPa4jTtzB4XBQX19PU1MTGRkZTJ061Wmd8tEmYl1DEASMRiNarZbu7m5qa2uxWCyEhIQ4EZ03Di7ydYqpxuEaV/sKruqXdrud8vJy2traiIyMxGQysW/fPkJCQpwiuqCgoHFRXor/tdlsVFdXExQU5NWJ46OJ1CYxsTEhSM1kMlFWVkZ2dvaQMl9RrejJiVauaLzoogu54oow3nnnPe67z8rGjels3PgDU6YcZvbsHi66KJOZM7NJS0sjLi7OqZ5hsVhoa2sDUnnllVf5/PMaDh0KA84A/sGMGf/igw/uJDk5GYVCQUpKCiaTCa1WS09PD3V1ddJmLk/PabVaKisriY+P9xvpuyuIasGpU6cOa50KhYLQ0FBCQ0OlfjtBEJzuTX19vSS+Ee+LSHTD3czFKD8hIcHrqUZvoru7m9LSUqZNm8YJJ5zgNN6mbyKEDo1GI92boKAgJ6LztbmzuB6tViutMycnxymSc6e89JTotFrtJKlNwiWOeJd++J/btyf4/vvvyc/PH1QubrVaqaqqcuvRCFBZWclbb33Azp2dHDwYi8WSCQQADkCDSqVBqXTgcIDdHgbEA+cDO+kzJt5DbOxB/v3vhygoKPBoUKcYtXR0dNDe3g5AVFQUMTExEtmNhSDEU4g9Umq1muzsbJ+l8ESi0+l0aLVaJ6d++SHAXb+YeCgSBIGcnBy/bSUQU7cWi4W8vDyP1im2GIj3RqfTYTQaCQgIcCI6b5o722w2Kisr0ev15OfnDypYkROc+G853BHdL3/5Sx555BGys7O9smYfwP/SJUcJJgSpQV9jsSf48ccfSU9Pd+n8ICoaxVTe9OnTh/yg9/b2UlpaSnx8PCUlJdTW1tPc3EtTkwWbTUCtVhAVpcRgqOX5588BLiAxMZHi4mIpbTbS5umIiAjJ5FXczK1Wq5OEfjyITkw5dXd3e9zc7m307xfTarWYTCankTTh4eG0tbXR2tpKVlaWkzLRnyDardXW1rpM3Y4E8pEvWq1WmlgtktxIzZ3FaDclJYWkpKQRrdOdIEWOc889l/fee29YY6TGGJOkNk446kjt8OHDJCQkOAkp5B6N06ZNIy0tzeMUmclk4uDBg04DOl2htLSUuXNrgQuAvpScp04Tw2melgsuxC9RVCCPWnxBdPLNNyUlxaNDwVhDJLrW1lba29tRKpWEhYURFRUlkd14zF5zh97eXkpKSggNDSUrK8unBxSbzeZEdHq9HoVC4ZFFmtVqpaysDKvVSl5entejcpHYTCYTjz/+OK+99hqHDh3yuheoF+Efb6CjEBOipgbDc+qX+z/292gcrrrO03E2/cUMZrPZI+Pk4TZPuxNciE3R8l4xUSY+EveP/tBoNJSVlREZGTlmfXEjgXhP7XY7ixcvJiQkxCk919raKs1ek9foxsIBRA6HwyHNjMvLyxuTCc9qtZqYmBinyFpu7tzfIk0kOZPJ5NUo0hWUSiVFRUWsXbuWCy64gOrqar99j01ifDFhSM1TiCTkzqNxuFCpVG7Vj/LCeB+pGYEQli79xZBFbm82T4unbXmvmLwpurW1lfLycic/R3EzHypiNZvNUp0nPz/f70bWiBDVl83NzZJFmghXgyrF9Jx4EBjLIaNdXV2UlZUxbdq0cW9Id+cF2tvbS1dXF4cOHcJutxMYGCgNYxXvkbfaL8xmMw8//DC7du3ixRdf9Jv5fpPwT0wYUvM0UhMEgdraWlQqlUuPxpE8r7vnkTuB9NXweoGwQe13xOZpwKfN066aouU2Vy0tLQOITm5cLJe+Z2ZmurUH8weItlFxcXEsWrTIo9RyYGDggNlr8iGj7e3tTnUo8f6EhoaOmITkQpC5c+f6rWBFoVCg1WppamoiLy+PuLg4Ke2t0+mc2i9Gq0rdv38/a9eu5eKLL+aLL76YjM4mMSQmTE3NarW6LCjLf15VVUVLSwsxMTHMnj3ba5vw119/zQknnAC4Nx3u7e1l6tS3gMc4dOj9ATOgxPVpNBq/ap4WiU6j0Uh1FovFgtVqJTo6mrS0NI8iuvGAGEVarVZyc3NHHI0PBtHqSiS73t5eJ8FFZGTkkJ6OvhCC+ApGo5HDhw9LNb7BUtb9Vak6nc5jc2ez2czmzZvZvXs3zz333JHow+iff8CjABMqUnOF/orGmTNn0tXV5fVNYyhbq/379wMGIMyJ0Po3T7ubij1ekPs5ikrPkJAQpk2bhtlslhz6gQER3XilzcR72tTUNCDV6G24sroS09tardbJ01FOdKKyUBSChIWF+X0tUmyez8vL86hHTKFQEBISQkhIiJO5s1jDFB1SDAYDarWagIAAdu/eTVxcHM888wzLli3j888/96oR8iQmPibsu6W/onHx4sWoVCp6enqGFHYM93kEQZCsiuQzquRYtGjRT//6s/R7HR0dR0TztBhFarVasrOzXW5o7oaLylNzI5GIDxc9PT2UlpYOK9XobbgSXNhsNun+1NXVSRGvIAgkJSUxdepUv/376/V6Dh8+TExMjFfuqasaptVqpaamhq+//poDBw4QFBTE9u3bSUhIYNWqVaN9CZM4ijBh0o82m00SbMgVjZmZmU4Fa71eT0VFheTOPVLIRSDt7e20tbVJJ3K5vZVcTCCmoZqamigrKyM4OJjMzMwx8xUcLgRBoLGxkfr6embMmEFiYuKwoki5Oa9cIi5GLFFRUV4bt2KxWCRJua9Sjd6CKARJSEggOjpaIrv+U8bFg8B4kZ3D4aC6uprOzk7y8/N9OtV779693HzzzSxfvpybb74ZtVpNb28vOp3O5fT2IwD+k245yjBhSM1ut0uCAJVKRU5OjsuNzWw2U1xcTEFBwYifq78IRL7Ri6knsQbV29srycNDQkLo7OzEZrORk5Pjzz02kvoyJiaG9PR0r6WARKITe+jkqTn5QcBTopOnb4cz+HU8ICded44g8ohXPBAAA4av+proNBoNJSUlJCQkkJqa6rMI22g0smnTJvbu3ctzzz1Hfn6+T55nHOCfb8KjABOG1JqamqisrBxS0Wi329m7dy+LFy8e9nOMdByMyWSioqKCzs5OgoODJYm/PKLzl2jNZDJRXl4uEe9YjK6R16DEg0B/VaEr+XxPTw9lZWXExsaSnp7ut+m70QpB5FPGxYNA//aL0fYZirDb7VRUVKDX68nLy/Pp37+wsJBbb72VlStXsnbt2olWO5sktXHChCE1u92O1WodcrMQBIFvvvlGUit6gpGSmXwzmz59OsnJydKJ12w2S9Gc6FUYHBxMVFTUmI9ZAWfXEn+wjLLZbE4WVyLRibL5zs5O7Ha7zzfe0UIuBBlKLTgcyNsvxPvkcDic5q5FRkYO6/nEtGhycrJP3WCMRiMbN27k+++/5/nnnyc3N9cnzzPOmCS1ccKEITWHw4HVavXosXIJ/mAYKZmBc/N0RkbGkKo2Uf4sJzrRx1Ee0Xn7NCsO7KyuriYxMZGUlBS/dae3Wq1UVlbS2tpKSEgIdrsdtVrtdH/G2vnDHex2OzU1NXR2dnqlH9ITiEQnl9B7YpEmTsw2m83k5+f7NGvwzTffcNttt/HLX/6SP/zhD34bXXsB4/8mPEoxYUhtOE79Q5Fa/xEZwyEzefN0VlbWqKIIsaFVTnTumqFHAtFVJTg4mKysLK/OJfM2NBoNpaWlxMTEkJGRIb1msSFa/DIajQOIbqy9HMWIxx8OCXKLNJHsRKKLiIjA4XDQ2tpKeno606ZN89l9MhgM3Hffffz44488//zz5OTk+OR5/AiTpDZOOGpJ7fjjj3f5AR5MBDIYxqp5un8ztCgkGI50Xox4dDodubm5fi1YsVgs0mSC3Nxcjw4Jcosr0YFebPiV1zC9vYGLQhCbzUZubq7fOoIIgiDVI8XZgvKIzps2V2K6/7bbbmPVqlVcf/31Ezk6k2OS1MYJRyWp7dmzh/nz5zulYUaaauzfPD1c2bs34E5R2L+1QJToNzQ0kJaW5tOT+WghbyfwhsuGxWIZENF5i+gEQaCpqYm6ujoyMzOdGo39DfI6b1ZWltSYLre5Eg9L8sG0cpsrT9Hb28uf/vQnDh06xPPPP09WVpavXpY/wj8/WEcBJgypgefjZ/bv3y/1Mo1GBCJvnh7OuJqxgCi0kH9ZLBbCw8NJTk4mOjrar0asyCE6/ov1SF+p4sQxNOKXOG9NTnRDeRXq9XpKSkqIiIggMzPTrxV8osVVSEgI2dnZQ65VPklb/h4KCQlxai/oX4MTBIHdu3dzxx13sHr1aq677jq/+myMEfzvg3WUYEKRmujQMBSKi4tJTU0lPDx8RCIQeS3Kn5unoW8jE22s0tLSnGpQRqPRr1oLrFYrFRUVGAwGcnNzx8Xxv/8EbZPJRHBwsFN6Nzg4GLvdTnV1NV1dXWMmBBkpBEGQsgk5OTmjSo2LgiZ5jU5U7u7fvx+lUsm3335LQ0MDL7zwApmZmV58JUcUJkltnHDUkZogCJIha0JCAgEBAR6TWf/J0/5cixI33c7OTrKyspzc5uUQNyh5a4GYchqr1gJ5+i49PZ2EhAS/iSDlE7TlNTqLxUJ0dDTJyclERUX5rZER4WIAACAASURBVMimt7eXw4cPS1GvLyImkeheeOEFtm3bhk6nQ61WM336dP75z3+Oy+RzP4B/vIGPQkwoUhvKqV8UgYgDD0XJs3gKj4qKcimyGM7k6fGGIAi0trZSXV09oDfO0983Go1Om7gvWwu0Wi2lpaVERkb6ffpO7giSnp7uNFx0PA4Dg0EcDSQOGfXlAUyn03HPPfdQVVXFCy+8QFpamnRQSUxM9Ir6s6enh9WrV3PgwAEUCgUvvfQSubm5LF++nJqaGtLS0tiyZYtEoA8++CAvvvgiKpWKp556irPOOmvUaxgm/HODOApwVJDaYHUz0a1BriaUiyxEJ/rk5ORhE8RYQ6vVUlZWRlhY2ADPy9FALgv3VmuBmGrs7e0lLy/Pb4eLgmdCEHlaTl5/8oWicChotVpKSkqIj49nxowZPnvPCoLA559/zp133sl1113HmjVrfPZcV199NSeddBKrV6/GYrFgMBjYtGkTsbGxrFu3js2bN9Pd3c1DDz3EoUOHuPzyy9mzZw9NTU2cccYZkn3eGGKS1MYJE5rURioCsdlsNDU1UVtbi0KhQKlUEhQUJLl9+Fu6SZS9i7UoXxrPiuhv3dS/tcCdWbFcfefvCkwYnRCkf9QrKgrlzdCRkZFeGzdjt9upqqqip6eHmTNn+tRpRafTcdddd1FXV8fzzz8/YD6gN6HVapk7dy5VVVVO75Xc3Fx27dpFYmIizc3NLFmyhNLSUh588EEA7rzzTgDOOuss7r33Xo4//nifrdEF/PdNPcHhv7meEUB8w4/GCUTePL1gwQJpYxDrKhqNhoaGBsxms7Q5iWQ31qkzeTtBRkYG+fn5Y0YQ8mhWhLy1QD5HTJ6yrKmpISoqyq9nhwFOQpCRpu8UCgWhoaGEhoZKTvOidF6r1dLZ2Ul1dfWA9K4r14+hIDZ8JyUlUVBQ4LP3gSAI7Nq1i/Xr13PDDTfw3HPP+Tx7UVVVRXx8PKtWreKHH35g4cKFPPnkk7S2tpKYmAhAYmIibW1tADQ2Njp5uyYnJ9PY2OjTNU7CfzChSE1OZt5ung4KCiI+Pt6pr8doNKLRaGhvb6eyshK73U54eLhEcr4clNnZ2UlFRQVxcXF+M4tNpVIRHR3tNG/NZrPR1dVFTU0NBoOBgIAAdDod1dXV0n3yRSP0aCCOLkpKSmLRokVeXZtCoSAsLIywsDBpQ5YTnfy91D+ic3VostlslJeXYzQamTt3rk8bvrVaLXfddReNjY3s2LGD1NRUnz2XHDabje+//56nn36a4447jrVr17J582a3j3eVffKn99ckfIsJRWrr168nPDycgoICFi5c6FEabqSTp+WncHFzkqfkGhoaBtTnoqKiRu1NaDAYKCsrQ6lUMmfOHL91rYD/+UrW1tY6NabLG6GbmpoG9IeNV3rXbDZTVlaGw+Fg3rx5Y9be4I7oxDpmW1ubRHTyiM5sNlNdXc2MGTPIy8vzaXT22WefsWHDBtauXcuqVavGtLYs1rOPO+44AC699FI2b95MQkICzc3NUvpRrHUmJydTX18v/X5DQwNJSUljtt5JjC8mVE2ttLSUb7/9lsLCQr7//nssFguzZs1i4cKFLFq0iGOOOUZK6zgcDjo6OqTUhq+ap13NVxOdLOSRiifXqa6upru726c2XN6CTqejtLSU8PBwMjMzh0ynDdZaIN4nX6Ur5e4l/uwI4nA4MBgMdHV1UV9fj9VqJSgoyKmHztuz1jQaDevXr6etrY1nn32WlJQUr117ODjppJP4+9//Tm5uLvfeey+9vb0ATJkyRRKKdHV18fDDD3Pw4EFWrlwpCUVOP/10ysvLJ4UiRwkmFKn1h8lkoqioiG+//Za9e/dy8OBBQkNDmTFjBgcPHuR3v/sdl1122ZhHO/K+J41GI23g8rEz4gYuF1aIJ1Z/TqWIaVytVkteXt6IRStDtRZERUV5ZYbYkeQIIggCLS0t1NTUSOTrbgTNaE2vBUHg448/5p577uHmm2/mqquuGlflb1FRkaR8zMjI4OWXX8bhcLBs2TLq6upITU1l69at0mHvgQce4KWXXkKtVvPEE09w9tlnj/WS/fdDOsExoUmtP0wmE6tXr+bgwYP87Gc/o7q6WiKLRYsWsXDhQgoKCoiJiRlT4pDX58TNyW63ExgYiMFgICIigry8PL9SXPaHfMNNTU0lKSnJ6/dwsNYC8UAQHh7u0QYuKgW7u7t93sflDZhMJg4fPkxQUBDZ2dmDRq2uhooKguBEdIPdp56eHu688066urp49tlnmT59uq9e1kTGJKmNE44qUhMEga+++oqf/exnTn1qNTU1FBYWUlhYyL59+9DpdOTn50skN3fu3DG1jzKbzZSXl2MwGJgyZQomkwm9Xo9CoRhgUuwPUZsY7YiDMMdS1SjfwDUaDXq9Hhi8taCjo4OKigqSkpJISUnxi3voDt6yuBqqBUOv15OamsoXX3zBvffey6233sqVV17p132Zfg7/fVNNcBxVpOYprFYrxcXFEtH9+OOPqNVqFixYwIIFCygoKCA7O9vrOXqHw0FdXR0tLS0unUvsdru0eY+mPuct2Gw2STHqTyNsXE0tUKlUhIaGShO0Z86c6dciG/ifxZXotuLt95vdbpeI7oknnuDDDz+kp6eHc845h1NOOYUrrriC0NBQrz7nUYRJUhsnTJKaBxAEAZ1Ox759+ygsLGTPnj1UVFQwdepUKZorKCgYlWehKOVOSEggNTXV4w3MYrFIJDdUfc5bkFtxpaSkMH36dL+Pdurq6qirqyMmJga73S61F8jvk7+0FoiHm9bWVvLy8nxqliwIAu+//z5/+tOfuOOOO1i6dCnFxcXs27eP1atXe/WQZLfbKSgoYPr06ezcuZOuri5/trkaLcb/jXSUYpLURgjROkmM5vbs2UNHRwfZ2dlSS8GCBQuGlPD39vZSVlZGQEAAWVlZo95E5AILkezE/jm5v+VIT/16vZ7S0lJCQkLIysoaV39DT6DT6SgpKSEqKmpAtCO2Foj3SWwtkBPdWNcxdTodhw8fZsqUKaSnp/s0/dfV1cUdd9yB0WjkL3/5i9RO4Cs8/vjj7Nu3D61Wy86dO7n99tv92eZqtJgktXHCJKl5EXa7ncOHD1NYWMjevXv5/vvvsdvtzJkzR4rm8vPzUavVdHV10dLSgl6vJycnx6lh2dtwNS1boVAQEREhbeBD1efkLQX+PmoFnC2jPFVhyh35xXvlS1ur/usV729+fr5PvTAFQeA///kP999/P+vXr2fFihU+j1AbGhq4+uqr2bBhA48//jg7d+70d5ur0WKS1MYJ/qtfPgKhUqmYNWsWs2bN4pprrpGipu+++449e/bw2GOPcfjwYaxWKwaDgRtvvJFzzjnH57UopVJJRESE08Yu1ue0Wi1VVVX09vY6pePkDdBtbW1UVVWRkpJCVlaWX6ToBoMoBJk+ffqwLKMUCgXBwcEEBwdLvWpyZarY1yi6fcgjutFEET09PZSUlJCYmOhTiyvoc0u57bbbsNlsfPLJJyQkJPjsueS48cYbefjhhyWBCjBpczUJn2CS1HwI0XXkpJNO4qSTTsJisXD66acze/ZsTj75ZA4ePMjatWtpbGwkLS1NiuYWLFhAVFSUTzc3lUpFTEyM06wreTquqakJg8GA1WolJCSE9PR0pkyZ4teEZjabKS0tBfCaI4gr5xh5a0FLSwvl5eU4HI4BTdBDpQ5tNptkRO1riytBEHjvvffYtGkTGzZsYPny5WP2t9y5c6dUf961a9eQj5+0uZrEaDBJamOIwMBA3nnnHck/UoTD4aCiooLCwkI+/PBDNm3ahMFg4JhjjpGIbtasWT6v7wQGBhIXF0dMTAxVVVVYLBays7NxOBxotVrq6+slqya5v+V41zpE2XtDQwNZWVkD7q+3oVAoCA8PJzw8XLJfko8wamhokFow5EQnby3o6OigvLyc1NRUcnNzfbppd3R0cMstt6BQKPj000/H3DHlq6++4r333uO///2v5Bxz5ZVXTtpcTcInmKyp+SksFgtFRUWSCOXAgQMEBwczf/58iegyMjK8KiQQvRqrqqrcupcMVp+T94WN1cl6MCHIeEPeWqDRaOjt7UWhUGCz2VCr1VIt1Zeejdu2bWPz5s3cfffdXHbZZeMe8ezatYtHH32UnTt3ctttt/mzzdVoMRlajhMmSe0IgSAI9PT0sHfvXkmIUlVVxfTp01mwYIHkiBIXFzeijau3t5fS0lLJsWI4qkZx89ZoNGg0GgwGA2q1ekD/nDc31JEIQcYT4oFBbNtQKpVotVoMBoPUa+jN1oK2tjZuueUWAgICePrpp30evXoKOal1dnb6s83VaDFJauOESVI7guFwOKivr+fbb79lz5497N27l56eHnJzcyUTZ7FW426TlM8N86YK05VcPjg42EmIMlIVoVwI4u9emNBncVVSUkJAQAA5OTkDXre811B+r+RE52nqWRAE3nnnHR5++GHuvfdeLr74Yr+/PxMUkzd9nDBJahMMNpuNgwcPSibORUVFKBQK5s2bJzWKizWcoqIizGazRA6+7IkSBEGqp4gRnc1mGzB/brAUk1wIkpub69demPA/9/+Ghgays7OZMmWKx79nNpudiM6T1oLW1lZuueUWQkJCePLJJ4mLi/PFy5qEZ5gktXHCJKlNcAiCgF6v57vvvpPSlsXFxZjNZjIyMrj22ms59thjmTZt2pif6OUO8xqNxsmPMCoqSqrPAZL/YVZW1hGxWRsMBg4fPiyN3hmt+798kKjc9Lqzs5N9+/YREBDAu+++y8aNG7nooosmo7Pxx+QfYJwwIUntgw8+YO3atdjtdlavXs26devGe0l+gw8++IA//vGP3HnnnSgUCimia2lpISsrS0pbzp8/n/Dw8DHfHOX1OflstbCwMFJTU4mOjvYbOytXEASB2tpaWlpayMvL83lTfVFRERs3bqS5uZmgoCAcDgfXX389q1at8spz1NfXc9VVV9HS0oJSqWTNmjWsXbt2oltceQP++QY9CjDhSM1ut5OTk8PHH38sjZR58803mTlz5ngvzS9gNBoJCAgYEDnY7XbKysqk+tz+/fuxWCzMnj1bIrqZM2eOmQO/3W6nsrISjUZDZmam1Fag0Wicak5i6tIf7LpEi6vY2FivK1P7w+FwsGXLFv785z+zceNGLrjgAhQKBWazGb1e73Gqcyg0NzfT3NzMggUL0Ol0LFy4kG3btvHKK6+MicWVIAh+e4AZAkfkoicCJlyf2p49e8jKyiIjIwOAFStWsH379klS+wnuGnxVKhX5+fnk5+dLp3yTycT+/fv59ttvefrppzl48CDh4eFOJs6pqale37zb29upqKggJSWF7OxsaVMT047y+lxXVxc1NTVYrVYnf8ux7J9zOBxUV1fT2dlJfn6+z5WYLS0trF27ltjYWD7//HOncTRBQUFerTUmJiZKTecRERHk5+fT2NjI9u3bpUbqq6++miVLlvDQQw+xfft2VqxYQVBQEOnp6WRlZbFnz55hWVy1tLRQUlJCQUGBT+3CJjExMeFIrbGx0WnkfHJyMoWFheO4oiMXwcHBHH/88dKGJAgCnZ2d7N27l2+//Za33npLkmOLJs4LFy4c8ZBVk8lEaWkpCoWCBQsWuN2cFQoFISEhhISESDZPosuHRqOhublZEpTI/S19kU7t6emhtLSUhIQECgoKfB6dvfXWWzz11FNs2rSJc889d0yjmJqaGvbv389xxx3nU4urAwcO8Nlnn/Hkk0/y8ssv+zSFO4mJhwlHapMWO76DQqEgLi6Os88+W+obEqOUwsJCPvvsMx5++GH0ej0zZ86UIro5c+YMalklH4Q5UiGI3OVDnNQsb36uqamRZqnJ2wpGWp+z2+1UVFSg1+uZPXu2z+eONTc3s3btWuLj4/n888+d7M3GAnq9nksuuYQnnnhiUK/SkX7+BEHA4XCgUqk444wzOOOMM7jhhht49NFHOfXUUzn99NNHtf5JHD2YcKQ2abEztlAqlWRmZpKZmcnKlSuBvr4rccjqyy+/THFxMQEBAcyfP1+qz2VlZaFUKqmsrKSrq4vo6GgWLVrk1ZShSqUiOjra6aRvtVql2lxzc/OI6nOdnZ2Ul5eTnJxMTk6OTw9NDoeDN954g2eeeYYHH3yQc845Z8wPaVarlUsuuYQrrriCiy++GMCrFldi3UylUmE2m6UI/e677+bNN99k27ZtpKSkkJOT46NXOImJhAknFLHZbOTk5PDpp58yffp0Fi1axBtvvMExxxwz3ks7aiEIAlqt1mnIallZmbSZ/fGPf+TYY49l6tSpY75h9+8J02g0WK1WJ39L0YXfarVSVlaG1WolLy/P51PGm5qa+MMf/kBiYiKPPfbYuKThBEHg6quvJjY2lieeeEL6vjcsrsS9R/ybP/zww3z44Ydc+f/t3XlYU8f6B/DvCUEjshQpOygihBBZxCIurYqtuLQieN1aQSiKXLHqQ114WrEute5o1dp6VSyKoPSntuJS8LrrFcGiWHYIyiIqi2wRQoAk8/sDk4LKooJAnM/z8GByJufMSTDvmTkz83p6YsKECTA0NERqaiqOHj0KIyMjLFiw4O2cdPug3UOdROmCGgD8+eefCAgIgFQqxZw5cxAUFNSu+6fDnN9MXl4e3Nzc8Pnnn2PAgAGK1VBKS0vB5XIV9+ccHBxaTbLaERqvwi+fP1dXV4f6+nro6+vDxMQE6urqHXb/TCaTITw8HHv27MHmzZsxfvz4TutC/9///oeRI0fC1tZWcb4bNmzA0KFD32iJK5lMpthfVVUVkpKSEBERAWdnZ8TGxoIQogiiISEhePDgAdauXdudRkN2i0oqI6UMah2ts4c5d3cymQylpaUvrEcolUqRlpamaM0lJiaCENIkySqPx3vjicyvora2FhkZGWCxWDA0NFRMgK6qqoKKikqTbsuWliNrq4KCAixevBimpqYIDg7u8slYX4dUKlX87W/fvh3//e9/IZFI8NVXX2HKlClISkrCunXrMGXKFMyaNQv379/HjBkzcPr06Q7Pzt2OaFDrJDSotQM3NzcsXLgQCxcuVOZMvm+dfBUNeZLV+Ph4ZGZmQltbWzHScsiQITA2Nm73q3dCCB4/foy8vLxm09k0vj8nFApRU1ODnj17NhmI0tb5czKZDGFhYdi7dy+2bt0KFxeX7tIiabOff/4Z48ePh4WFBUpLS7F27VoAwMKFCzF37ly4uLhgxYoVIITgjz/+wIEDB/DLL79gwIABWL16Nezt7RX39LoB5frwuhGlGyjytr2tYc7vIoZh0Lt3b4waNQqjRo0C0BBsSkpKEB8fj/j4eBw6dAiPHj1C//79myRZ1dTUfO2gUFNTg/T0dPTq1QtDhgxptmWoqqoKHR0dxUTnxvfnKioqkJeXp7g/17hF93wL/cGDB1i0aBHMzc1x/fr1Ds+E3lkqKytx8+ZNWFhYQCAQ4NSpU1i4cCG4XC62bNmClStXYsyYMRg5ciScnZ1x+/Zt5Ofnw9zcHCNHjoS1tXVnnwLVDdCg9gY6epgz9SKGYaCnpwdXV1e4uroC+CfJalxcHKKjo/HDDz9ALBa/kGS1tVYTIQQPHjzAo0ePYGVl9crD5hmGAYfDAYfDeWH+XOMs2YQQ5OfnIz8/H2KxGKdPn8b27dvxySefKPXfhaqqquL/gp2dHQIDA3Hq1Cn4+Phg+PDhcHFxwa5duzBgwAAYGRnhhx9+UKxg4+TkpLTBnmpfNKi9po4e5ky1HYvFApfLBZfLhZeXF4CGe2HyJKt79+5VJFkdPHiwItD1799fMVihoqICAoGg3acWvCxLtlQqhUgkwqFDh1BcXAxVVVWsXbsWNTU1ikDd0TpjfVQ7Ozt8/fXX8PLygpqaGiZNmgSBQICtW7di06ZN+Oabb+Du7o6ioiIYGRk1WZKNBjSqreg9tdfQkcOcqY4hT7Iqvzf3119/IScnB4aGhmCxWKirq8OePXtgamra4fPODhw4gNDQUGzbtg0ff/wxGIZBRUUF6uvr30oyz45eH7WlEYpTp06FmZkZtm3bBqlUioSEBKxZswY+Pj6YMWMG6urqusQ6nu1AeZvcXRwNaq+ho4Y5vw6pVApHR0cYGxvjzJkzdFrBK0hOTsbs2bPB5/Ohp6eH27dvo7KyEjwe74Ukq+0hNzcXCxcuBJ/Px6ZNmzptXcObN29izZo1OHfuHAC8MJCpvVy9ehXW1tbQ09NTDOHPzs6Gq6srdu/ejU8++QRVVVWIjIyEoaEhPvvssxfmrnVj3f4Euisa1Lq57du3IyEhAUKhEGfOnEFgYCCdVtBGBQUFEIlETVaqqK+vfyHJKovFUqyG4ujoCC6X+0rvm1QqxYEDB3Dw4EHs2LEDo0eP7tQv7ePHjyMmJgYhISEAgMOHDyM+Ph67d+9+7X0+3zq7e/cuvv/+e0RERLxwURAeHo7g4GAcOXIE5ubmHT6JvZPQoNZJ6D21bqygoABnz55FUFAQtm/fDgAdunq6sjExMXnhOVVVVQwaNAiDBg3C/PnzmyRZjYuLw4YNG5CVlQVdXV1FkBsyZAj09fVfGqhycnKwaNEi2Nra4saNG4qkp52pIwYuyV9fUFAAExMTDBo0CA8ePMC5c+fg7u7eJOh5enpCKBTiyJEjIIRg/fr1b3RsimqMBrVuLCAgAFu2bFFkjAZApxW0M4ZhoKGhAWdnZzg7OwP4Zw7brVu3EBcXh3379qG4uFiRZNXR0RH29vY4evQoDh8+jJ07d2LkyJFdpkutowYuHTp0CBcuXICzszPmzp0LX19f5OTkNAlo8m7IBQsWQCwWIyoqCk+ePOkW2cyp7oEGtW7qzJkz0NPTwwcffKBombWETitoPwzDwMjICO7u7nB3dwfQ0MWYmZmJ+Ph4nDx5EvPnz4eTkxNu3LjR4Sv4v6ohQ4ZAIBAgJycHxsbGiIyMxJEjR954v7NmzQKPx8NXX30FLS0tpKamwsjICAzDKIJZ46XFOBwOZs6c+cbHpajGaFDrpm7cuIFTp07hzz//VCTM9PT0pNMKOomKigr4fD74fD58fHy69BqFbDYbu3fvxvjx4xXro7bHgt+qqqoYOnQogoODIRAIcPr0abDZbHz55ZcwMDBoh5pTVOvoQBElcOXKFQQHB+PMmTN0WgHVZezduxcXL17EmjVr3sXM813ziuYd0HFpeqlO8c033+D8+fOwtLTE+fPnFZNqBw4ciBkzZoDP52PChAn4+eef2yWgVVRUYNq0aeDxeLC2tsbNmzdRVlYGFxcXWFpawsXFBeXl5YryGzduhIWFBaysrBRDyinlIr9Q/ve//42KioomPQQU1dFoS416I97e3hg5ciR8fX1RV1cHkUiEDRs20GkF7zh596uDgwNWrlyJqVOndnaV3jbaUusktKXWxUml0s6uQrOEQiGuXbuGuXPnAgB69OiB9957D1FRUfD29gbQEPROnjwJAM1OK6CUD8MwePjwIXx9fd/FgEZ1IhrUujgVFRVFd45MJuvk2jR1//596OrqwsfHBw4ODvD19UV1dXWL0wpMTU0Vr6fTClq3fPly8Hg82NnZYcqUKaioqFBsa64r9/bt27C1tYWFhQUWL1780pGvb4OxsTG++uqrTjk29e6iQa2LIoTg4MGDuHjxomIUXXOZlisqKnDp0qW3WT0AgEQiwZ07d+Dv74/ExET07t0bmzZtarY8nVbw6lxcXJCSkoKkpCRwuVzFklZpaWmIjIxEamoqYmJisGDBAkWr3t/fH/v27YNAIIBAIEBMTExnngJFvVU0qHVRDMMgPT0d58+fB9Bwxb5q1SpFYJD/LikpQUhICKKiogA0dFfKZDLIZLIOv0I3MTGBiYkJhg4dCgCYNm0a7ty5o5hWAIBOK3hD48aNU+RzGzZsGAoKCgA035X7+PFjCIVCDB8+HAzDwMvLS9H9S1HvAhrUurAlS5agpKQE06dPByEE7u7uTVZmABqGTUskEgQFBQFo6K6UT3Jt3AqSB7v2ZGBgAFNTU2RmZgIALl68CD6fj8mTJ+PQoUMAGlaZcHNzAwBMnjwZkZGRqK2tRU5ODgQCAZycnNq1Tsrs119/VSyE3VxX7sOHD5ss/0W7eKl3DZ183YXp6+vj4sWL0NTUxMGDB5usGyjvioyMjERISAj09PSQlZWFnTt3QkdHB5qamnBzc4OlpSUANBlhGBcXh9TUVLi7uyuyNr+un376CR4eHqirq4O5uTlCQ0Mhk8kwY8YMHDhwQJGtAGg6rYDNZrfbtAIA+PHHHxESEgKGYWBra4vQ0FCIRKJukbFg7NixKCwsfOH59evXKy4I1q9fDzabDQ8PDwDNd+XSLl7qnUcIaemH6iTFxcVk1apVZMSIEcTV1ZUQQkh9fX2TMjk5OcTCwkLxOC4ujmhoaJCQkBCydOlS4ubmRiIjI8nMmTOJj48PefLkCZHJZIQQQqZMmULu3Lnz9k6oAxUUFBAzMzMiEokIIYRMnz6dhIaGkuXLl5ONGzcSQgjZuHEjCQwMJIQQkpqaSuzs7IhYLCb3798n5ubmRCKRdFr9W3Pw4EEybNgwUl1drXhuw4YNZMOGDYrH48aNI7GxseTRo0fEyspK8fyRI0eIn5/fW60vRQhp+XuV/nTgD+1+7IIqKysRGBiIsrIyHD9+HP3798exY8fAZrObXIknJyfD2NgYAFBXV4d79+5h1KhRmDt3LoKDgxEbG4sHDx5g1apVEAqFiIuLU1y1V1dXt1uesK5AIpGgpqYGEokEIpEIRkZGSjG1ICYmBps3b8apU6earCHZXFeuoaEhNDQ0EBcXB0IIwsLCFK09inoX0KDWBWlqaiIwMBArVqyAoaEhdHR0cPXqVUgkEjAMoxjldvfuXVhYWAAAampqcP/+fQwaNAgAcOnSJXz44Yfw8PAAn8+Hs7MzLly4py/V2QAAD8JJREFUAKBhtKSNjQ3u3bvXOSfYzoyNjbFs2TL07dsXhoaG0NLSwrhx45RiasHChQvx9OlTuLi4KNLhAC2vELNnzx74+vrCwsICAwYMaLeEtBTVHbS2ogjVyRiGUSGESBmG6Q1ARAghDMOwCCEyhmF+APCQELKHYRgjAN8DOE8I+Y1hmCUAzAAsAcAB8C0AISFkM8MwZgD8AKQTQg53xnm1J4ZhtAGcADATQAWAYwCOA9hNCHmvUblyQog2wzA/A7hJCAl/9vwBAH8SQk68/dpTFNWeaEutiyOESJ/9ribPrkAIIfJhjCcBWDIMowZAFYABgPRn24YDyCaESABoADABkPRsmzGA3gC6ZvPk1Y0FkEMIKSGE1AP4HcAIAEUMwxgCwLPfxc/KFwAwbfR6EwCP3mJ9KYrqIDSodW8ZAKSEEBEhJA+AOyFEHrjSANx59m9DABb4J+CNAFD2rIwyyAcwjGEYNabhpuEnaDjXUwC8n5XxBhD17N+nAHzOMExPhmH6A7AE0DVvqlEU9Upo92M3xzCMBiHkKcMwDGnmw2QY5n0A4wkhEQzDqAC4AWAeIST5rVa2AzEMsxYN3Y8SAIkAfAGoA/g/AH3REPimE0LKnpUPAjDnWfkAQkh0Z9Sboqj2RYOaknpZkGMYhgNgIgA3QsiXLQVCiqKo7ogGtXfIsxYbDw33nx7SoKa8bt++rcdms0MA2IDeZqCUiwxAikQi8f3ggw+Kn99IVxR5hxBCngD4X6PHNKApKTabHWJgYGCtq6tbzmKx6OdMKQ2ZTMaUlJTwCwsLQwBMfn47vYKjKOVko6urK6QBjVI2LBaL6OrqVqKhF+LF7W+5PhRFvR0sGtAoZfXsb/ul8YsGNYqiKEpp0KBGUVSny8zM7GFpaTnwZdsCAgKMTp48qdHca8+cOaMxZswYi/Y41uuaOnWqWWhoqHZ77lMuNzdXdcKECeYAEBsb2+u3337Tkm+LiIjQWrFihUFHHLe7ogNFKIrq0nbs2PFOr/ZiZmZWHxMTcx8AEhIS1BISEnrPnDmzEgA8PDwqAVR2agW7GBrUKErJzZkzxzQlJUWt9ZJtZ2NjI/r1118fNLfd39/fuF+/fnXffPNNCQAsWbLESENDQ7p27dqi7777Tv+PP/7oU1dXx3z22WcVP/744yOgIZHt559/3i8hIUFdX1+/7ty5c9nq6upk6tSpZpMmTar08fEpv3r1qlpAQEBfkUjE6tGjB7l27Vpm4+MKhULW3Llz+6anp/eSSqVMUFDQI09Pz4rm6ikSiRgvL69+SUlJaioqKtiyZcsDV1fXpxKJBAsWLDC5cuWKJgB4e3s/CQoKKl62bJlhTEzMe7W1tSxHR8eqiIiIPHluw5dxcnKysrGxESUmJvauqqpS2bdvX86YMWNERUVFKh4eHmb5+fk9e/XqJdu3b1/e0KFDa86ePau+dOnSvkBDHrzY2NiM4uJi9qRJkyyTk5PTNm7caCQWi1k8Hk996dKlj2tqalgJCQm9w8LC8rOysnp4e3ublZaWsnV0dCRhYWG5lpaWdVOnTjXT0NCQ/v33371LSkpU161bV+Dj41P+Sh94N0K7HymKaneenp5lJ06c6CN/HBUVpe3p6Vn++++/a2ZnZ3OSkpLS09PT0+7evasWHR2tDgD5+fmcxYsXF2dnZ6dqaWlJw8LCmnTnicVixsPDY8COHTvyMzMz065evZqprq7eJJ37ihUrDMeMGSNMSUlJv379eubKlStNhEJhs99zmzdv1gOArKystCNHjtz38/MzE4lEzLZt23Tz8vJ6pqampmVlZaX5+vqWAsDy5cuLU1JS0gUCQWpNTQ0rMjJSq7l9y4lEIlZiYmLGrl278vz8/PoDQGBgoJG9vb0oKysrbd26dQ+9vb37A8C2bdsMdu3alZeRkZEWFxeX0fj8OBwO+fbbbx+5urqWZ2RkpM2bN69JYJo/f37fWbNmlWZlZaXNnDmz1N/fX7G+aVFRkWpCQkJGVFSUYPXq1cat1bk7oy01ilJyLbWoOsqHH35YU1pays7NzVV9/PgxW0tLS2ppaVm3detWvWvXrmny+Xw+0PCFn5GRwTE3N68zNjauHTFiRA0AODg4iHJzc3s23mdSUhJHT0+vfvTo0SIA6NOnj+z54165ckXz3Llz7+3atcsAAGpra5ns7OwegwcPFr+snrGxseqLFi0qfnZMsZGRUV1ycjLn0qVLmvPnzy9RVVUFAOjr60sBIDo6WmP79u0GYrGYVVFRwebz+TVopftv1qxZZQAwceLEqqqqKtaTJ09Ubt26pXHixIlsAJg8efJTPz8/dmlpqcqwYcOqli1bZjpjxoyyL774onzAgAEvnGNzEhMTe0dHR98DAH9//7K1a9eayLdNnjy5QkVFBR988IG4tLRUta377I5oUKMoqkO4urqWh4eHaxcWFqpOnTq1DAAIIQgICHi8fPnyJ43LZmZm9ujRo4diCoKKigqpqalp0sIihIBhmBanKRBCcPz48Wx7e/vattSxufUHXnYskUjELF26tF98fHyahYVF/ZIlS4zEYnGrvV3yxLyNH7/suAzDkA0bNhS6u7tXRkVFaY0YMcI6JiYmS01Nrc2BrTkcDkdxQGVfc4F2P1IU1SFmz55dduLEiT5nzpzR9vT0LAeAiRMnCg8fPvx+ZWUlCwBycnJUHz582KaLa3t7e3FRUVGPq1evqgFAeXk5q76+vkmZMWPGCLdt26YvkzXEgRs3brSY3v2jjz6qCg8P7wMASUlJPR8/ftzDzs5OPHbsWOF//vMfXfn+i4qKVEQiEQsADAwMJJWVlazTp0+3abTj0aNHtQHg3Llz6hoaGlIdHR3psGHDnoaGhuoADaM3tbW1JX369JGlpqb2dHJyqlm/fn2hra1tdUpKCqfxvjQ1NaVVVVUv/d52cHCoDgkJ0QaAvXv39nF0dKxqS/2UDW2pURTVIRwdHcXV1dUsfX39un79+tUDwL/+9S9hamoqZ8iQITwAUFNTk0VEROSw2exWmw8cDodERETcW7x4cV+xWMzicDiya9euZTUus2nTpkd+fn59eTwenxDCmJiY1F6+fDm7uX0GBgYWz549ux+Xy+WrqKhg7969ub169SJff/11SVZWVk8ejzeQzWYTb2/vkhUrVpR4eHiU8Pn8gSYmJnX29vbVbXkftLW1pQ4ODjz5QBEA2Lx586NZs2aZcblcfq9evWQHDx7MAYAtW7boxcbGarJYLMLlcmumTZtWmZ+fr+gunDhx4tPg4GBDHo/HX7p06ePGx9mzZ0++t7e32c6dOw3kA0XaUj9lQxc0pigl9Pfff+fa29s/ab0k1ZGcnJysgoODH4waNUrU2XVRNn///ff79vb2Zs8/T7sfKYqiKKVBux8piqI6yK1btzJbL0W1J9pSoyiKopQGDWoURVGU0qBBjaIoilIaNKhRFEVRSoMGNYqiOh1NPdO8rph6ZteuXTq5ubmvvdzWli1bdHfv3q3TUpnnz7Wt6OhHiqK6NJp6puulngkPD39/0KBBNWZmZvWtl35RYGBgSWtlnj/XtqItNYqi2p2/v7/xpk2bdOWPlyxZYrR69Wp9APjuu+/0bWxsrLlcLv/rr782kpeRp56xsLAY+OGHH1pWVVUxQNNW0NWrV9UcHBx4VlZWfFtbW+vy8vIm32FCoZA1ffp0MxsbG2tra2t+eHj4ey3VUyQSMdOmTTPjcrl8a2tr/unTpzUAQCKRwM/Pz4TL5fK5XC5//fr1egCwbNkyQxsbG2tLS8uBX3zxRT/5clzNcXJyspozZ46pg4MDz9LScuDly5fVgIZlt8aOHTuAy+Xy7e3tefHx8b0A4OzZs+o8Ho/P4/H41tbW/PLycpa8ZSkWi5mNGzcanT59WpvH4/H379+vvWvXLh0vL6++AJCVldVj+PDhXC6Xyx8+fDhXIBD0kL9/X375pamDgwPPxMTE9mUtSqFQyHJ2drawsrLiW1paDty/f782AFy/fl1tyJAhVgMHDrT+6KOPLPPy8lRDQ0O1U1JS1Ly8vMx5PB6/qqqKMTY2tvX39ze2tbW1trW1tU5JSenZUp2WLFlitGrVKn35eyR/rZmZmU1MTIz6y861xTe6EdpSo6h3wBdfoF9hIdptdXYDA9QfPYq85rZ7enqWBQQE9JXnU4uKitKOiYkRNE49QwjB2LFjLaKjo9XNzc3r8vPzOeHh4fdHjBiR9+mnn5qHhYVpL1iwoEy+T3nqmYiIiHujR48WlZWVsZpLPXPs2LHcJ0+eqDg6OlpPnjxZqKmp+dLo0zj1TGJiIufTTz+1vHfvXspPP/30vjz1jKqqKoqKilSAhtQzwcHBjwHA3d29f2RkpNasWbNabEnIU89ER0er+/n59RcIBKny1DMXLly4d+rUKQ1vb+/+GRkZafLUM+PGjauurKxkqampyYqLiwH8k3pGnj8NaOgGlB9Hnnpm0aJFpTt27NDx9/c3vXDhwj3gn9Qzd+/e5UyZMsXi+Xxqv//+u6aBgUH9lStXsgGgtLRUpba2llm8eHHfs2fPZhsZGUn279+vvWzZMuNjx47l7tmzR+/5lVI0NTWlycnJ6bt379ZZtGiR6eXLl7NbqlNjEomESU5OTv/tt9+0vv/+e6MJEyZkPX+ubUWDGkW9A1oKQB2Bpp75R3dIPTN48OCaoKAgU39/f2M3N7fKCRMmVP31118cgUDQ6+OPP+YCgEwmg66ubrPdjd7e3mUAMG/evLKVK1eatlanxqZPn14OACNGjKhevnx5j7ae88vQoEZRVIegqWcadIfUM3Z2drV37txJO3HihFZQUJDxhQsXhDNmzKiwsLCouXv3bkZbjtE4A3hrn1Nz9WOz2ZBKpUxr5Vusx5u8mKIoqjk09UyD7pB6Jjc3V1VDQ0O2YMGCsoCAgKK7d++q2dnZicvKytgXLlzoDTS0ehMSEjgAoK6uLq2srFRpvI+wsLA+AHDgwAFtBweH6jetU0vn2hLaUqMoqkPQ1DMNukPqmdu3b/f69ttvTVgsFthsNvnll1/yOBwOiYyMvLd48eK+T58+VZFKpYy/v3+Ro6Oj2MvL68miRYv6LV++XJaQkJAONAQ9Ozs7nkwmYyIjI++/aZ2eP9d58+aVt/4qmnqGopQSTT3TNbwrqWeMjY1tExIS0g0NDSVv65g09QxFURSl9Gj3I0VRVAd5V1LPPHz4MLmz6yBHW2oUpZxkMpnsjUaRUVRX9exv+6WjQmlQoyjllFJSUqJFAxulbGQyGVNSUqIFIOVl22n3I0UpIYlE4ltYWBhSWFhoA3rxSikXGYAUiUTi+7KNdPQjRVEUpTToFRxFURSlNGhQoyiKopQGDWoURVGU0qBBjaIoilIaNKhRFEVRSuP/ATYsD8jiXv5MAAAAAElFTkSuQmCC\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "fig = plt.figure()\n",
    "ax = fig.gca(projection='3d')\n",
    "ax.set_title(\"3d\")\n",
    "ax.set_xlabel(\"x (m)\")\n",
    "ax.set_ylabel(\"y (m)\")\n",
    "ax.set_zlabel(\"z (m)\")\n",
    "figure1 = ax.plot(-local_x[:], local_y[:], -local_z[:] ,label='vehicle local position', c='black')\n",
    "figure2 = ax.plot(-local_sp_x[:], local_sp_y[:], -local_sp_z[:], label='vehicle local position setpoint', c='blue',lw=0.7)\n",
    "plt.legend(bbox_to_anchor=(1.28,0))\n",
    "\n",
    "plt.savefig('D:/3d.png',dpi=1000,bbox_inches = 'tight')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 4
}
